Li, Jialin and Takács, Dénes and Lu, Jianwei and Vörös, Illés and Stépán, Gábor (2024) Tuning Time Delays to Improve the Performance of a Steering Controller. LECTURE NOTES IN MECHANICAL ENGINEERING. pp. 481-487. ISSN 2195-4356
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Abstract
Time delays and lags in control loops can cause instability and pose significant challenges to engineers. This study investigates a steering controller using the dynamic bicycle model, where the steering system dynamics are approximated by a steering lag. A higher-level controller calculates the desired steering angle based on the vehicle’s lateral position and yaw angle by considering various time delays related to these states. Stability charts are plotted for delay combinations, and the most stable gain setups for the feedback controller are determined. The results indicate that an appropriate increase in one of the time delays expands the stable domain of control gains for the vehicle system, and it enhances the performance of the vehicle controller. © The Author(s) 2024.
| Item Type: | Article |
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| Additional Information: | Funding Agency and Grant Number: National Key Research and Development Program of the Ministry of Science and Technology of China [2021YFE0116600]; Key Support Plan for Foreign Experts [zcgj2022017L]; National Research, Development and Innovation Office of Hungary [2020-1.2.4-TET-IPARI-2021-00012]; Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences; China Scholarship Council; Rosztoczy Foundation Funding text: The research reported in this paper was supported by the National Key Research and Development Program of the Ministry of Science and Technology of China under grant no. 2021YFE0116600, the Key Support Plan for Foreign Experts under grant no. zcgj2022017L, and the National Research, Development and Innovation Office of Hungary under grant no. 2020-1.2.4-TET-IPARI-2021-00012. D.T. was supported by the Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences, J.L. was supported by the China Scholarship Council. I.V was supported by the Rosztoczy Foundation. |
| Uncontrolled Keywords: | timedelay, steering control, stability analysis, feedback control |
| Subjects: | T Technology / alkalmazott, műszaki tudományok > TA Engineering (General). Civil engineering (General) / általános mérnöki tudományok T Technology / alkalmazott, műszaki tudományok > TJ Mechanical engineering and machinery / gépészmérnöki tudományok |
| SWORD Depositor: | MTMT SWORD |
| Depositing User: | MTMT SWORD |
| Date Deposited: | 19 Sep 2025 10:21 |
| Last Modified: | 19 Sep 2025 10:21 |
| URI: | https://real.mtak.hu/id/eprint/224621 |
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