Title :
Integrated vehicle control via coordinated steering and wheel torque inputs
Author :
Brennan, Sean ; Alleyne, Andrew
Author_Institution :
Dept. of Mech. & Ind. Eng., Illinois Univ., Urbana, IL, USA
Abstract :
A controller was developed to govern the lateral position of a highway-speed vehicle using frequency-weighted coordination of front steering and torque inputs. The MISO design problem was recast as a SISO approach by using a cascaded design technique: the first step determined the relative contribution of each control input as a function of frequency; secondary design steps utilized classical SISO approaches. For the vehicle control problem, the torque steering inputs were designed to act only as high-frequency inputs, while standard front steering was weighted for DC and low-frequency inputs. This controller was then tested on an experimental vehicle system
Keywords :
cascade control; control system synthesis; multivariable control systems; road vehicles; DC inputs; MISO design; SISO approach; cascaded design technique; coordinated steering; frequency-weighted coordination; front steering; highway-speed vehicle; integrated vehicle control; low-frequency inputs; road vehicles; torque inputs; wheel torque inputs; Bicycles; Control nonlinearities; Control systems; Frequency; Industrial engineering; Torque control; Vehicle driving; Vehicle dynamics; Vehicle safety; Wheels;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945505