NDLI: Vehicle yaw rate control based on piecewise affine regions

Content Provider	IEEE Xplore Digital Library
Author	Benine-Neto, A. Scalzi, S. Netto, M. Mammar, S. Pasillas-Lepine, W.
Copyright Year	2010
Description	Author affiliation: IBISC - CNRS FRE 3190 UEVE, 40 rue du Pelvoux 91020 Evry cedex - France (Mammar, S.) \|\| LCPC/INRETS - LIVIC, 14 Route de la Minière, 78000 Versailles, France (Benine-Neto, A.; Netto, M.) \|\| University of Rome Tor Vergata, Electronic Engineering Department - DIE, Via del Politecnico 1, 00133 Roma - Italy (Scalzi, S.) \|\| LSS-Suplec, Plateau du Moulon, 3, rue, Joliot-Curie 91192 Gif-sur-Yvette, France (Pasillas-Lepine, W.)
Abstract	This paper shows that an active front steering control, that considers the nonlinear behaviour of the tire-road forces, can be designed by parameterizing the vehicle dynamics with respect to the measurable yaw rate and taking into account the steady state behaviour of the vehicle. In order to ensure the tracking of the yaw rate reference signal on the basis of the yaw rate tracking error, despite constant disturbances and parameters uncertainties, the proposed control strategy uses a proportional integral (PI) control, in which the gains depend on the defined parametrized vehicle dynamics. The proposed control system switches depending on the yaw rate as it is a variable measured at low cost. The stability is proved by a piecewise quadratic Lyapunov function using linear matrix inequalities technique. Several simulations, including disturbances rejections and step references, are carried out on a standard nonlinear CarSim D-Class vehicle model to explore the robustness with respect to unmodelled effects such as combined lateral and longitudinal tire forces, pitch, roll and driver dynamics. The simulations confirm that the proposed piecewise linear (PWL) control can greatly improve the vehicle stability and is advantageous in very demanding manoeuvres.
Starting Page	20
Ending Page	25
File Size	1167772
Page Count	6
File Format	PDF
ISBN	9781424478668
ISSN	19310587
e-ISBN	9781424478682
DOI	10.1109/IVS.2010.5548062
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-21
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicle dynamics Pi control Proportional control Stability Force control Force measurement Steady-state Error correction Uncertain systems Control systems
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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