Robust PI controller design for vehicle steering systems

Abstract

In this paper, the robust analysis and design of vehicle steering control systems with uncertainties are considered by the use of parameter plane method and gain-phase margin tester method. A systematic design procedure is proposed to solve this problem. First, a single tracked vehicle model is given for the design and the suitable operating range of vehicle system is also defined. Based on the parameter plane method and gain-phase margin tester method, a simple PI controller is developed to have desirable values of gain margins and phase margins in our work. Furthermore, limit cycles generated from a saturation element of vehicle system are also discussed. Computer simulation results show the efficiency of our approach.