H controller design based on steering structure for front-wheel-steered vehicles

Bing-Fei Wu*, Shih Meng Chang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


This investigation proposes two stability and lane-keeping unmanned control structures (UCS) i.e. UCS I a nd UCS II in front-wheel-steered (FWS) vehicles. This work achieves the following objectives 1) accurate steering of w heels accurately minimizing system errors of the lateral position, the handling angle and the yaw rate and 2) maintainin g a smooth ride quality with different forward velocities and loads. Each of the two steered systems has a control trackin g the desired course: a double lane change maneuver (DLCM). The designed controller based on the H algorithm, th e linear matrix inequality (LMI) technique, is developed and applied. It is found that each steering structure has a robust controller which is capable of keeping the vehicles in the designated lane. For safety and improved car handling, FWS vehicles require a structure to monitor either the lateral displacement (y L) together with a handling angle signal (φ) for UCS I or a lateral displacement (yL ) and a yaw rate signal (γ) for UCS II, as evidenced by the theoretical analysis and also employ a look-ahead formulated controller. Numerical simulation conforms that good vehicle performance is achie ved using the controller.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages6
StatePublished - 1 Dec 2006
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 18 Oct 200621 Oct 2006

Publication series

Name2006 SICE-ICASE International Joint Conference


Conference2006 SICE-ICASE International Joint Conference
CountryKorea, Republic of


  • Linear matrix inequality technique
  • Look-ahead formulated controller
  • Unmanned control structures

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