Tracking control by integrated steering and braking systems using an observer-based estimation

Author

Gaspar, Peter ; Szabo, Zoltan ; Bokor, Jozsef

Author_Institution

Comput. & Autom. Res. Inst., Budapest, Hungary

fYear

2007

fDate

2-5 July 2007

Firstpage

619

Lastpage

624

Abstract

An integrated control structure, which includes an active steering and an active brake system, is proposed for tracking the path of the vehicle. Besides tracking this control also guarantees the prevention of rollovers. The method is based on a Linear Parameter Varying (LPV) model of yaw-roll dynamics. A parameter-dependent LPV controller based on the H_∞ method is designed. Since in this model the time-varying adhesion coefficient is unknown, an adaptive observer-based method is proposed for its estimation. Both the estimation and the control system are demonstrated through vehicle simulations.

Keywords

H^∞ control; braking; estimation theory; linear parameter varying systems; observers; steering systems; time-varying systems; tracking; vehicle dynamics; H∞ method; LPV model; active brake system; active steering; adaptive observer-based method; braking system; control system; integrated control structure; linear parameter varying model; observer-based estimation; parameter-dependent LPV controller; rollover prevention; steering system; time-varying adhesion coefficient; tracking control; vehicle path tracking; vehicle simulation; yaw-roll dynamics; Acceleration; Adaptation models; Adhesives; Mathematical model; Observers; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2007 European

Conference_Location

Kos

Print_ISBN

978-3-9524173-8-6

Type

conf

Filename

7068314