- "Constraint-Enforcing Controller for Both Autonomous and Assisted Steering", Conference on Control Technology and Applications (CCTA), DOI: 10.1109/CCTA.2017.8062779, August 2017. ,
This paper considers the design of a controller and a constraint-enforcement scheme for application to dualmode, autonomous and manual steering systems. A tracking controller is designed to track a desired pinion angle during autonomous operation, and to provide assistive torque during manual operation. The tracking controller is designed using H-infinity synthesis with tracking made possible via the solution to a full-information output regulation problem. A reference governor scheme is implemented in order to enforce constraints. Numerical simulations are presented corresponding to an aggressive step-steer maneuver in autonomous mode and show strict constraint enforcement.