NDLI: Robust vehicle lateral stabilization via set-based methods for uncertain piecewise affine systems: Experimental results

Content Provider	IEEE Xplore Digital Library
Author	Palmieri, G. Baric, M. Glielmo, L. Tseng, E.H. Borrelli, F.
Copyright Year	2011
Description	Author affiliation: Engineering Department of Universitá degli Studi del Sannio, 82100 Benevento, Italy (Palmieri, G.; Glielmo, L.) \|\| Department of Mechanical Engineering, University of California, Berkeley, 94720-1740, U.S.A. (Baric, M.; Borrelli, F.) \|\| Ford Research Laboratories, Dearborn, MI, U.S.A. (Tseng, E.H.)
Abstract	The paper presents the design of a lateral stability controller for ground vehicles based on front steering and four wheels independent braking. The control objective is to track yaw rate and lateral velocity reference signals while avoiding front and rear wheel traction force saturation. Control design is based on an approximate piecewise-affine nonlinear dynamical model of the vehicle. Vehicle longitudinal velocity and driver steering input are modeled as measured disturbances taking values in a compact set. We use a time-optimal control strategy which ensures convergence into a maximal robust control invariant set. This paper presents the controller experimental results on a vehicle equipped with active front steering and differential braking. In particular, tests at high-speed on ice with aggressive driver maneuvers show the effectiveness of the proposed scheme.
Starting Page	3252
Ending Page	3257
File Size	395192
Page Count	6
File Format	PDF
ISBN	9781612848006
ISSN	07431546
e-ISBN	9781612848013
e-ISBN	9781612847993
DOI	10.1109/CDC.2011.6161185
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Wheels Tires Robustness Mathematical model Robust control Uncertainty
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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