Abstract
A hierarchical lane-keeping controller of passenger cars is analyzed, with the consideration of feedback delay in the control loop. The higher-level controller generates the desired steering angle based on the delayed feedback of the lateral position and yaw angle of the vehicle. The feedback delay of the lateral position and the yaw angle are treated separately in the model, therefore more general sensor setups and estimation algorithms can be handled. A lower-level proportional-integral-derivative power steering controller ensures that the desired steering angle signal is followed properly. The linear stability analysis of the resulting closed-loop system is performed, with a focus on the controller parameters and the delay values. The optimal control gains, leading to the fastest decay of the solution are also investigated in detail. The results are showcased with the help of stability charts and numerical simulations.
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