Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 50th Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : 7W3-3
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Host: The Institute of Systems, Control and Information Engineers

Passivity-based Adaptive Nonlinear Control for Active Steering Systems
*Yoshiki Kawaguchi, Takanori Fukao, Koichi Osuka
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Keywords: Active steering, Passivity-based control, Model reference adaptive control, Uncertainties, Nonlinearities
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Abstract
Many researches of active steering systems have been proceedingto improve the driving safety.In this research, passivity-based adaptivenonlinear control is proposed for active steering systems.The designed controller is robust to uncertainties and nonlinearities of tire's lateral force.Furthermore, the controller is much simpler than the existing ones.
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© 2006 The Institute of Systems, Control and Information Engineers
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