Robust Adaptive Control Design for Vehicle Lane Keeping Assist

A variable structure model reference adaptive control that can compensate parametric variation for systems with input delay is applied to the design of vehicle steering assist. The controller includes a predictor to counteract the effect of the delay, and can enhance the robustness due to the variable structure design, and is therefore an attractive choice to compensate driver behavior variation. Preliminary simulation study indicates that this design successfully compensate the system to track the reference model. Driving simulator experiments are currently in progress to verify the design with human drivers.