NDLI: Stabilizing Vehicle Lateral Dynamics With Considerations of Parameter Uncertainties and Control Saturation Through Robust Yaw Control

Content Provider	IEEE Xplore Digital Library
Author	Haiping Du Nong Zhang Guangming Dong
Copyright Year	1967
Abstract	This paper presents a robust yaw-moment controller design for improving vehicle handling and stability with considerations of parameter uncertainties and control saturation. The parameter uncertainties dealt with are the changes of vehicle mass and moment of inertia about the yaw axis and the variations of cornering stiffnesses. The control saturation considered is due to the physical limitations of actuators and tires. Both polytopic and norm-bounded approaches are used to describe parameter uncertainties, and a norm-bounded approach is applied to handle the saturation nonlinearity. The conditions for designing such a controller are derived as linear matrix inequalities (LMIs). A nonlinear vehicle model is utilized to validate the effectiveness of the proposed approach. The simulation results show that the designed controller can improve vehicle handling and stability, regardless of the changes in vehicle mass and moment of inertia and the variations of road surfaces and saturation limitations.
Sponsorship	IEEE Vehicular Technology Society
Starting Page	2593
Ending Page	2597
Page Count	5
File Size	575475
File Format	PDF
ISSN	00189545
Volume Number	59
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicle dynamics Uncertain systems Robust control Tires Optimal control Control systems Robust stability Road vehicles Uncertainty Vehicle driving yaw moment control Control saturation parameter uncertainty vehicle lateral dynamics
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Automotive Engineering Computer Networks and Communications Electrical and Electronic Engineering Aerospace Engineering

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