The Influence of Suspension Roll Dynamics to Vehicle Steering Control. The two dominant motions of automatic vehicle steering control are yaw and lateral motions. A two degree-of-freedom (DOF) model commonly used to describe these motions is called the bicycle model. Experimental results for certain vehicles have shown some frequency characteristics that can not be explained by the bicycle model. In this research, a 3 DOF model, which incorporate the suspension roll mode, is developed and verified against the experimental data. The results attribute the discrepancy in the frequency characteristics to the vehicle suspension, especially the roll dynamics. The fundamental coupling between the roll and lateral modes is addressed in this research using the linear 3 DOF model. The mu-synthesis and H_infinity theory is applied to both the bicycle model and the linear 3 DOF model for a comparison study of robust steering controller design. The simulation results highlight the importance of the effect of roll dynamics to steering control, especially for vehicles with soft suspensions. (Kai-Ten Feng, August 1999)

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K.-T. Feng, H.-S. Tan and M. Tomizuka,
"Automatic Steering Control of Vehicle Lateral Motion with the Effect of Roll Dynamics,"
Proceedings of the American Control Conference, Philadelphia, CA, 1998.
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