Experimental results in robust lateral control of highway vehicles

Vehicle lateral dynamics are affected by vehicle mass, longitudinal velocity, vehicle inertia, and the corner-in stiffness of the tires. All of these parameters are su%ject to variation, even over the course of a sin-gle trip. Therefore, a practical lateral control system must guarantee stability, and hopefully ride comfort, over a wide range of parameter changes. T+ pa-per describes a robust controller which theoretically guarantees stability over a wide range of parameter changes. The performance of the robust controller is then evaluated in simulation as well as on a test v e hicle. Test results for experiments conducted on an instrumented track are presented, comparing the ro-bust controller to a PJD controller which was tuned on the vehicle.