Kybernetika

A car driver needs at least five hundred milliseconds before he can react to unexpected yaw motions. During this time the uncontrolled car may produce a dangerous yaw rate and sideslip angle. Automatic steering control for disturbance rejection is designed such that it bridges over the driver reaction time, but returns the full steering authority to the driver thereafter. The solution is robust with respect to uncertainties in the road-tire contact and in the mass and velocity of the vehicle. The yaw disturbance transfer function is compared with those of the ideally decoupled car and of the uncontrolled car. The frequency responses are evaluated in the form of disturbance attenuation ratios and frequency limits.

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