ITSC 2025 Paper Abstract

Paper TH-LA-T26.2

Li, Zihong (Southeast University), Zhang, Ning (Southeast University), Lu, Hangyu (Shanghai Jiao Tong University), Wang, Jun (Southeast University), Wang, Cheng (Heriot-Watt University), Yin, Guodong (Southeast University)

Robust Steering Control of an Advanced Mobility Unit Considering the Communication Time Delay

Scheduled for presentation during the Regular Session "S26c-Motion Planning, Trajectory Optimization, and Control for Autonomous Vehicles" (TH-LA-T26), Thursday, November 20, 2025, 16:20−16:40, Broadbeach 1&2

2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), November 18-21, 2025, Gold Coast, Australia

This information is tentative and subject to change. Compiled on October 18, 2025

Keywords Real-time Motion Planning and Control for Autonomous Vehicles in ITS Networks, Autonomous Vehicle Safety and Performance Testing, Energy-efficient Motion Control for Autonomous Vehicles

Abstract

A vehicle chassis equipped with advanced mobility units exhibits high mechanical decoupling, rendering its steering control particularly vulnerable to communication delays and external disturbances. To address this issue, a disturbance-observer-based robust steering control method is proposed considering a communication time delay. First, a steering dynamics model of the advanced mobility unit is established about the kingpin axis, with the communication time delay modeled as a constant. Subsequently, a composite controller comprising model-based feedforward compensation, proportional-derivative (PD) feedback, and an outer-loop disturbance observer is designed. By employing a Lyapunov-Krasovskii functional, linear matrix inequalities incorporating both delay and disturbance terms are derived to synthesize the PD controller gains. Simulation results demonstrate that, under a 30 ms communication time delay and triangular torque disturbances of ±100 Nm, the steady-state tracking error for constant steering commands is limited within 1 deg, and the tracking error for sinusoidal steering commands is nearly negligible, while the system remains stable throughout. These results validate the effectiveness of the proposed method in suppressing the effects of communication time delay and disturbances while achieving high-precision steering angle tracking performance.