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Yaw Control via Combined Braking and Steering

Balint Vanek ; Balazs Kulcsar ; Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Gary Balas
European Control Conference (ECC), 23-26 August 2009, Budapest, Hungary, p. 3652-3658. (2009)
[Konferensbidrag, refereegranskat]

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 tire characteristics map, and an affine Linear Parameter Varying (LPV) plant. Control is provided via a cascade connection of scheduled inverse tire characteristics and an LPV controller, handling both the nonlinear dynamics an the non-affine tire characteristics. Excellent tracking results are demonstrated with a high fidelity simulation even in the presence of noise and uncertainty.

Nyckelord: Automotive; Linear parameter varying systems; Uncertain systems

Denna post skapades 2009-03-18. Senast ändrad 2017-06-28.
CPL Pubid: 91608


Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik (2005-2017)



Chalmers infrastruktur