Modeling and robust control of power steering system of heavy vehicles for AHS

This paper is concerned with the modeling and control of steering system as a sub-system of lateral control architecture of heavy vehicles for the automated highway systems (AHS). A steering system retrofitted with an actuator is considered. The input and output of the steering system are the reference steering angle command to the actuator and the actual steering angle of the front wheel respectively. Open loop experimental data is fitted to a second order linear model. A linear loop-shaping controller has been designed and experimentally verified. It has also been successfully used as an inner-loop controller of the vehicle lateral control system in the open and closed loop experiments of the heavy vehicle system.