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A STRATEGY FOR VEHICLE CONTROL AUGMENTATION VIA CONTROL BANDWIDTH PHASE SHAPING APPROACH

Abstract This paper discusses a vehicle control augmentation strategy bringing into focus the phase property, and proposes a control bandwidth phase shaping technique which is applicable to control augmentation system design. This paper points out that the problem setting of the control augmentation system design and structure/control integrated design has similarity. As expected from the similarity it is observed that the phase crossover bandwidth of vehicle dynamics has crucial effect to the tracking performance for pilot control input. Furthermore, a finite bandwidth phase shaping technique via dissipative control theory is proposed. Namely, the phase shaping in control bandwidth is achieved with no phase constraint in the higher frequency range. Therefore, a control augmentation system which achieves the phase shaping in the control bandwidth is easily designed by the presented technique.