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Reference Governor for Constrained Piecewise Affine Systems. A Vehicle Dynamics Control Application

Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Francesco Borrelli ; Jaroslav Pekar ; E. Greg Stewart
European Control Conference (ECC), 23-26 August 2009, Budapest, Hungary (2009)
[Konferensbidrag, refereegranskat]

In this paper we present a novel approach to the design of reference tracking controllers for constrained, discrete-time piecewise affine systems and apply it to a vehicle yaw control problem. The paper is divided in two parts. In the first part, we present a methodology for designing reference tracking controllers for constrained, discrete-time piecewise affine systems. The approach follows the idea of reference governor techniques where the desired set-point is filtered by a system called the “reference governor”. Based on the system current state, set-point, and prescribed constraints, the reference governor computes a new set-point for a low-level controller so that the state and input constraints are satisfied and convergence to the original set-point is guaranteed. In the second part of the paper, we apply the proposed approach to a vehicle dynamics control problem where the vehicle yaw rate have to be controlled through an Active Front Steering (AFS) system.

Nyckelord: Predictive control for linear systems; Automotive; Hybrid systems



Denna post skapades 2009-03-18. Senast ändrad 2009-10-02.
CPL Pubid: 91606

 

Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik

Ämnesområden

Reglerteknik
Farkostteknik

Chalmers infrastruktur