article · German
Führungsverhalten des vierrädrigen Straßenfahrzeugs bei Regelung des Kurses auf festgelegter Bahn
A 6-page German journal article (Regelungstechnik, Vol. 13, No. 5, 1965) analyzing the guidance behavior of a four-wheeled road vehicle under automatic course control. Drawing on Fonda's vehicle differential equations and classical control theory, the author derives transfer functions for lateral and yaw dynamics, compares mechanical/optical/electrical guidance systems, and shows via analog computer simulation that a lateral-deviation controller is poorly damped. A new controller architecture using curvature difference as the primary control variable eliminates the destabilizing 1/p² geometry element and achieves acceptable stability; FM modulation of the guidance cable supplies curvature set-point information to the vehicle.