LAUSR

Abstract This paper investigates stability issues related to time delay in lateral vehicle control. First, the effects of feedback delay are examined in a single track vehicle model with proportional state feedback. The time delay is then compensated using a predictor based control approach called finite spectrum assignment (FSA). This controller calculates the states based on an internal model of the plant. This requires the online calculation of an integral term, which can negatively affect stability. The effects of parameter mismatches are also investigated. A comparison of delayed state feedback and the FSA controller is then carried out based on stability charts and numerical simulations. It is shown that the FSA has a significant advantage in performance compared to delayed state feedback even in the presence of parameter mismatches.