Title :
Design of a nonlinear braking-based yaw rate controller
Author :
Nitzsche, Gunter ; Volz, Benjamin ; Röbenack, Klaus ; Wagner, Steffen ; Zipser, Stephan
Author_Institution :
Fraunhofer Inst. for Transp. & Infrastruct. Syst. IVI, Dresden, Germany
Abstract :
This paper is going to present a nonlinear controller design of a braking-based yaw rate controller for trucks. The proposed control structure uses a feedforward version of the exact input-output linearization. Additionally, a sliding mode control approach (SMC) is used to overcome model uncertainties as well as control errors. The practicability of the control structure is shown with simulation results of a nonlinear double track model and a three-dimensional multi body model.
Keywords :
braking; control system synthesis; feedforward; linearisation techniques; nonlinear control systems; road traffic control; variable structure systems; SMC; control errors; control structure; exact input-output linearization; model uncertainties; nonlinear braking-based yaw rate controller design; nonlinear double track model; sliding mode control approach; three-dimensional multibody model; trucks; Feedforward neural networks; Mathematical model; Stability analysis; Tires; Vehicle dynamics; Vehicles; Wheels;
Conference_Titel :
Control Conference (ECC), 2014 European
Conference_Location :
Strasbourg
Print_ISBN :
978-3-9524269-1-3
DOI :
10.1109/ECC.2014.6862183
