DocumentCode :
1705019
Title :
Steering control based on a two-level driver model: experimental validation and robustness tests
Author :
Menhour, Lghani ; Lechner, Daniel ; Charara, Ali
Author_Institution :
Chemin de la croix blanche, INRETS-MA Lab., Salon-de-Provence, France
fYear :
2009
Firstpage :
125
Lastpage :
130
Abstract :
In this article we study a two-level driver model composed of one anticipatory and one compensatory control. The anticipatory control, executed in an open loop, is based mainly on the standard linear equations for the lateral dynamics of the vehicle. The compensatory control, executed in a closed loop, uses N PID controllers for the correction of lateral deviation, and other N PID controllers for the correction of the yaw angle of the vehicle. However, each pair of PID controllers is synthesized on a linear bicycle model (or around an operating point represented by a value of the longitudinal velocity) using the Ziegler-Nichols oscillation method. The different controllers are managed by a switch. We introduce a time delay in the N PID controllers to correct the lateral deviation. We conclude by validating and testing the robustness of the driver model in relation to two different vehicle models: a linear parameter-varying model and a nonlinear four-wheel model. Note that the experimental data used here were obtained from a Peugeot 307 laboratory vehicle developed by INRETS-MA.
Keywords :
automobiles; bicycles; compensation; control system synthesis; delays; linear systems; nonlinear control systems; nonlinear equations; open loop systems; robust control; steering systems; three-term control; vehicle dynamics; wheels; INRETS-MA; PID controller synthesis; Peugeot 307 laboratory vehicle; Ziegler-Nichols oscillation method; anticipatory control; automobile dynamics; compensatory control; experimental validation; lateral deviation correction; linear bicycle model; linear parameter-varying model; longitudinal velocity value; nonlinear equation; nonlinear four-wheel model; open loop system; robustness test; standard linear equation; steering control; time delay; two-level driver model; vehicle lateral dynamics; yaw angle; Bicycles; Delay effects; Equations; Open loop systems; Robust control; Switches; Testing; Three-term control; Vehicle dynamics; Velocity control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE
Conference_Location :
Saint Petersburg
Print_ISBN :
978-1-4244-4601-8
Electronic_ISBN :
978-1-4244-4602-5
Type :
conf
DOI :
10.1109/CCA.2009.5280934
Filename :
5280934
Link To Document :
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