Lateral dynamics and robust control synthesis for automated car steering

In this paper, lateral controllers are designed for the automatic steering of vehicles. The vehicle dynamics is derived for lateral motions of highway driving. To cope with various uncertainties, robust control synthesis usin g H-infinity-mu methodology is presented for a car moving along a curved pa th. A controller reduction technique is also introduced for implementation. The simulation tests reveal that the resulting lateral controller possesse s the inherent advantages that are robust to mixed real-complex uncertainti es for typical driving manoeuvres. Finally, it can be concluded that the pr oposed control approach can significantly improve the stability and perform ance of an active car steering system.