An observer and an integrated braking/traction and steering control for a cornering vehicle

Author

Cherouat, H. ; Diop, S.

Author_Institution

Laboratoire des Signaux & Syst., CNRS, Gif-sur-Yvette, France

fYear

2005

fDate

8-10 June 2005

Firstpage

2212

Abstract

This paper presents an observer of the lateral velocity and an integrated control combining steering and braking/traction in order to improve vehicle dynamics performance and stability. The control is a multivariable regulation of the yaw rate, the longitudinal and lateral velocities. Standard specifications on vehicle dynamics are shown to be met by the proposed controller. The results are illustrated by means of simulations which use a quite complete nonlinear vehicle dynamics model.

Keywords

automobiles; multivariable control systems; nonlinear control systems; nonlinear dynamical systems; observers; position control; vehicle dynamics; velocity control; braking/traction control; cornering vehicle; integrated control; lateral velocity; longitudinal velocity; multivariable regulation; nonlinear vehicle dynamics model; observer; steering control; vehicle dynamics performance; vehicle stability; yaw rate; Automatic control; Centralized control; Control systems; Couplings; Force control; Nonlinear dynamical systems; Stability; Vehicle dynamics; Velocity control; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2005. Proceedings of the 2005

ISSN

0743-1619

Print_ISBN

0-7803-9098-9

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2005.1470297

Filename

1470297