Vehicle control based on a LPV control and a nonlinear control to detect critical driving situation due to high dynamic loads

This paper presents two control laws dedicated to the vehicle control and gives a comparison between them. The first control law is designed to control the vehicle from steering angle and is based on the LPV control strategy, the solution for this problem is achieved using the LMI framework and the interpolation gains method. The second strategy controls the longitudinal and lateral motion of the vehicle via wheel torque traction and steering torque respectively. It is based on a second order sliding mode control. These control laws are used to perform closed-loop simulations with a non linear vehicle model, under high dynamic loads to detect critical driving situations such as physical limitation of the vehicle in a bend. These laws are tested using the experimental data acquired by four wheeled vehicle Peugeot 307 from IFSTTAR.