LAUSR

A lane-keeping controller for automobiles is analyzed in this letter, with the consideration of time delay in the feedback loop. Unstable periodic orbits are identified inside the linearly stable domain of control gains. Based on the amplitude of these unstable solutions, safe parameter zones are identified, where the closed loop system is robust against perturbations, i.e., where the basin of attraction of the stable equilibrium is sufficiently large. Sensitivity to perturbations in different regions of linearly stable control gains is demonstrated by a series of real-vehicle experiments. Finally, modifications of the control law are proposed that lead to significant improvements in terms of the robustness against perturbation for the controlled vehicle, achieving global stability in the practical sense.