DocumentCode :
3084133
Title :
Nonsmooth dynamic surface control of non-Lipschitz nonlinear systems with application to brake control
Author :
Maciuca, Dragos B. ; Hedrick, J. Karl
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
fYear :
1997
fDate :
5-7 Oct. 1997
Firstpage :
711
Lastpage :
716
Abstract :
Successful longitudinal control of a vehicle in an intelligent vehicle and highway system (IVHS) or autonomous intelligent cruise control (AICC) environment is highly dependent on the adequate control of the vehicle´s subsystems. Most of those systems are highly nonlinear and include a wide range of uncertainties. A method for designing stable controllers for uncertain, mismatched nonlinear systems is proposed. This method is similar to the one proposed by Swaroop et al. (1997) in that it is using multiple surface control methods with low pass filters included in the design. However, the method presented here uses nonsmooth control which has the benefit of reducing the final tracking error. Differential inclusion theory is used to prove the stability of this controller. This methodology is applied to the control of brake systems in an automated highway environment. A simplified brake model tailored for control applications is used to illustrate the methodology. Simulation and experimental results show the feasibility of such technique.
Keywords :
automated highways; brakes; braking; control system synthesis; low-pass filters; nonlinear control systems; road vehicles; stability; uncertain systems; automated highway environment; autonomous intelligent cruise control; brake control; differential inclusion theory; intelligent vehicle and highway system; longitudinal control; low pass filters; nonLipschitz nonlinear systems; nonsmooth dynamic surface control; stable controllers; surface control methods; tracking error; uncertain mismatched nonlinear systems; Automatic control; Control systems; Intelligent vehicles; Mobile robots; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Remotely operated vehicles; Road vehicles; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on
Conference_Location :
Hartford, CT, USA
Print_ISBN :
0-7803-3876-6
Type :
conf
DOI :
10.1109/CCA.1997.627742
Filename :
627742
Link To Document :
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