Robust vehicular steering control system with lateral disturbance compensation

Abstract

A robust vehicular steering control scheme is presented in which lateral disturbance causing dangerous yaw motion is compensated for by additional steering torque input from a state space disturbance observer. The robust vehicular steering control system requires no complex modeling of either lateral disturbance or its impact on vehicle motion. Its action makes the driver comfortable by compensating for lateral disturbance by some appropriate additional steering torque not steering angle. Application results also demonstrate utility of the robust steering control system in avoiding dangerous yaw motions of vehicle.