On the impact of additive disturbances on Auto-Steering Systems
Journal article, Peer reviewed
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OriginalversjonIFAC-PapersOnLine. 2017, 50 (1), 11889-11895. 10.1016/j.ifacol.2017.08.1418
Several control techniques are available for the automotive systems and their design is often based on the available measurements of different parameters and the integration of the hard input and performance constraints. The objective of the present study is to revisit the closed loop dynamics of an auto-steering system to offer an evaluation of the impact of the curvature of the road. From a theoretical point of view, robust positive invariance theory is presented in order to perform the analysis of the effects that a bounded parameter-varying additive disturbance has on a linear parameter-varying controller used to ensure stability of a model predictive control strategy.