Title :
An optimal control methodology for braking in a corner with stability
Author :
d´Andrea-Novel, B. ; Chou, H. ; Coron, J.-M. ; Ellouze, M. ; Fenaux, E. ; Pengov, M. ; Zarka, F.
Author_Institution :
Ecole des Mines de Paris - Centre de Robot., Paris, France
Abstract :
In this paper, we present a control method based on nonlinear constrained optimization combined with singular perturbation theory, to deal with the problem for a vehicle to brake in a corner with stability. The control laws are elaborated from a simple horizontal model and are shown to be very robust to unmodeled dynamics (such as the vertical dynamics of the car and the suspensions).
Keywords :
braking; nonlinear control systems; optimal control; optimisation; singularly perturbed systems; stability; braking; nonlinear constrained optimization; optimal control methodology; simple horizontal model; singular perturbation theory; stability; unmodeled dynamics; Acceleration; Mathematical model; Optimization; Simulation; Vehicle dynamics; Vehicles; Wheels; Automotive systems; Control of cars; Optimization; Singular Perturbation theory; Trajectory Tracking in Nonlinear Systems;
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2
