Title :
Yaw control via combined braking and steering
Author :
Vanek, B. ; Kulcsar, B. ; Falcone, P. ; Balas, G.
Author_Institution :
Comput. & Autom. Res. Inst., Budapest, Hungary
Abstract :
Active yaw stabilization for passenger vehicles, following driver yaw rate commands with steer-by-wire and rear break force distribution, is discussed. The problem is solved via a decomposition of the vehicle equations of motion into a static, scheduled tyre characteristics map, and an affine Linear Parameter Varying (LPV) plant. Control is provided via a cascade connection of scheduled inverse tyre characteristics and an LPV controller, handling both the nonlinear dynamics an the non-affine tyre characteristics. Excellent tracking results are demonstrated with a high fidelity simulation even in the presence of noise and uncertainty.
Keywords :
braking; cascade control; linear parameter varying systems; nonlinear dynamical systems; steering systems; vehicle dynamics; LPV controller; active steering system; active yaw stabilization; braking; cascade connection; inverse tyre characteristics; linear parameter varying controller; nonlinear dynamics; passenger vehicles; rear break force distribution; steer-by-wire; yaw control; Equations; Force; Mathematical model; Nonlinear dynamical systems; Tires; Vehicles; Wheels; Linear Parameter Varying systems; robust LPV control; vehicle dynamics and control;
Conference_Titel :
Control Conference (ECC), 2009 European
Conference_Location :
Budapest
Print_ISBN :
978-3-9524173-9-3
