Integrated vehicle dynamics control via coordination of active front steering and rear braking

European Journal of Control - Tập 19 Số 2 - Trang 121-143 - 2013
Moustapha Doumiati1, Olivier Sename1, Luc Dugard1, John Jairo Martinez Molina1, Péter Gáspár2, Zoltán Szabó2
1Gipsa-Lab UMR CNRS 5216, Control Systems Department, 11 rue des Mathématiques, BP46, 38402 Saint Martin d'Hères, France
2Computer and Automation Research Institute, Hungarian Academy of Sciences, Kende u. 13-17, H-1111, Budapest, Hungary#TAB#

Tóm tắt

Từ khóa


Tài liệu tham khảo

S. Anwar, Yaw stability control of an automotive vehicle via generalized predictive algorithm, in: Proceedings of the American Control Conference, Portland, USA, 2005.

Apkarian, 1995, A convex characterization of gain scheduled H∞ controllers, IEEE Transaction on Automatic Control, 40, 853, 10.1109/9.384219

Apkarian, 1995, Self-scheduled H∞ control of linear parameter-varying systems, Automatica, 31, 1251, 10.1016/0005-1098(95)00038-X

Boada, 2005, Fuzzy-logic applied to yaw moment control for vehicle stability, Vehicle System Dynamics, 43, 753, 10.1080/00423110500128984

G. Burgio, C. Girelli, D. Alessandri, J. Palandri, Active Rear Steering System and Controller Design to Improve Vehicle Driving and Handling Behavior, FISITA 2010, World Automotive Congress, 30 May–4 June, Budapest, Hungary.

Canale, 2007, Robust vehicle yaw control using an active differential and IMC techniques, Control Engineering Practice, 15, 923, 10.1016/j.conengprac.2006.11.012

Canale, 2008, Vehicle yaw control via second order sliding mode technique, IEEE Industrial Electronics, 55, 3908, 10.1109/TIE.2008.2003200

M. Corno, M. Tanelli, I. Boniolo, S.M. Savaresi, Advanced yaw control of four-wheeled vehicles via rear active differential braking, in: Proceedings of the 48th IEEE Conference on Decision and Control, 2009, pp. 5176–5181.

M. Corno, Active Stability Control Systems Design for Road Vehicles, Ph.D. Thesis, POLITECNICO DI MILANO, Dipartimento di Elettronica e Informazione, 2008.

S. Di Cairano, H.E. Tseng, D. Bernardini, A. Bemporad, Steering vehicle control by switched model predictive control, in: IFAC Symposium Advances in Automotive Control, 2010, Munich, Germany.

S. Di Cairano, H.E. Tseng, Driver-assist steering by active front steering and differential braking: design, implementation and experimental evaluation of a switched model predictive control approach, in: Proceedings of the 49th IEEE Conference on Decision and Control, Atlanta, USA, 2010, pp. 2886–2891.

Doumiati, 2010, Observers for vehicle tyre/road forces estimations: experimental validation, Vehicle System Dynamics, 48, 1345, 10.1080/00423111003615204

M. Doumiati, O. Sename, J. Martinez, L. Dugard, C. Poussot-Vassal, Gain-scheduled LPV/Hinf controller based on direct yaw moment and active steering for vehicle handling improvements, in: Proceedings of the 49th IEEE Conference on Decision and Control, Atlanta, USA, 2010.

Doumiati, 2011, Onboard real-time estimation of vehicle lateral tire-forces and sideslip angle, IEEE Transactions on Mechatronics, 16, 601, 10.1109/TMECH.2010.2048118

Dugoff, 1970, An analysis of tire traction properties and their influence on vehicle dynamic performance, SAE Transactions, 79, 341

Falcone, 2007, Predictive active steering control for autonomous vehicle systems, IEEE Transactions on Control Systems Technology, 15, 566, 10.1109/TCST.2007.894653

Falcone, 2008, Linear time-varying model predictive control and its application to active steering systems, International Journal of Robust and Nonlinear Control, 18, 862, 10.1002/rnc.1245

P. Gaspar, Z. Szabo, J. Bokor, A fault-tolerant vehicle control design, in: Proceedings of the 17th IFAC World Congress, Seoul, Korea, June 2008.

Grip, 2008, Nonlinear vehicle sideslip estimation with friction adaptation, Automatica, 44, 611, 10.1016/j.automatica.2007.06.017

B.A. Guvenç, T. Acarman, L. Guvenç, Coordination of steering and individual wheel braking actuated vehicle yaw stability control, in: Proceedings of the IEEE Intelligent Vehicle Symposium, 2003, pp. 288–293.

Guvenç, 2004, Robust two degree-of-freedom vehicle steering controller design, IEEE Transactions on Control System Technology, 12, 627, 10.1109/TCST.2004.824960

Guvenc, 2009, Robust yaw stability controller design and hardware-in-the-loop testing for a road vehicle, IEEE Transactions on Vehicular Technology, 58, 555, 10.1109/TVT.2008.925312

He, 2006, Coordination of active steering, driveline, and braking for integrated vehicle dynamics control, Proceedings of the Institution of Mechanical Engineers, Part D, 220, 1401, 10.1243/09544070JAUTO265

Y. Hirano, K. Fukatani, Development of robust active rear steering control, in: Proceedings of the 3rd International Symposium on Advanced Vehicle Control, AVEC'96, 1996, pp. 359–375.

Horiuchi, 1996, Two degree of freedom/H∞ controller synthesis for active four wheel steering vehicles, Vehicle System Dynamics Supplement, 25, 275, 10.1080/00423119608969201

W. Liang, H. Yu, R. McGee, M. Kuang, J. Medanic, Vehicle Pure Yaw Moment Control Using Differential Tire Slip 2009 American Control Conference, St. Louis, MO, USA, June 10–12, 2009.

Lin-Hui, 2010, Design of a nonlinear observer for vehicle velocity estimation and experiments, IEEE Transactions on Control Systems Technology, 18, 545

J. Lofberg, YALMIP: a toolbox for modeling and optimization in MATLAB, in: Proceedings of the CACSD Conference, Taipei, Taiwan, 2004.

Nagai, 1997, Integrated control of active rear wheel steering and direct yaw moment control, Vehicle System Dynamics, 27, 357, 10.1080/00423119708969336

Panzani, 2010, Designing on-demand four-wheel-drive vehicles via active control of the central transfer case, IEEE Transactions on Intelligent Transportation Systems, 11, 931, 10.1109/TITS.2010.2055858

Park, 2001, H∞ direct yaw-moment control with brakes for robust performance and stability of vehicles, JSME International Journal, Series C, 44, 404, 10.1299/jsmec.44.404

Piyabongkarn, 2009, Development and experimental evaluation of a slip angle estimator for vehicle stability control, IEEE Transactions on Control Systems Technology, 17, 78, 10.1109/TCST.2008.922503

C. Poussot-vassal, O. Sename, L. Dugard, A LPV/H∞ global chassis controller for handling improvements involving braking and steering systems, in: Proceedings of the 47th IEEE Conference on Decision and Control, CDC’08, Cancun, Mexico, December 2008.

Poussot-Vassal, 2011, Vehicle dynamic stability improvements through gain-scheduled steering and braking control, Vehicle System Dynamics, 49, 1597, 10.1080/00423114.2010.527995

Poussot-vassal, 2011, Attitude and handling improvements through gain-scheduled suspensions and brakes control, Control Engineering Practice, 19, 252, 10.1016/j.conengprac.2010.05.016

Rajamani, 2006

Ray, 1995, Nonlinear state and tire force estimation for advanced vehicle control, IEEE Transactions on Control Systems Technology, 3, 117, 10.1109/87.370717

Rodic, 1999, Contribution to the integrated control synthesis of road vehicles, IEEE Transactions on Control Systems Technology, 7, 64, 10.1109/87.736754

S. Savaresi, C. Poussot-Vassal, C. Spelta, O. Sename, L. Dugard, Semi-Active Suspension Control for Vehicles, Elsevier-Butterworth Heinemann, ISBN13: 978-0-08-096678-6, 245 pages, August 2010.

Scherer, 1997, Multiobjective output-feedback control via LMI optimization, IEEE Transactions on Automatic Control, 40, 896, 10.1109/9.599969

Schiebahn, 2010, The yaw torque influence of active systems and smart actuators for coordinated vehicle dynamics control, Vehicle System Dynamics, 48, 1269, 10.1080/00423110903456891

M. Selby, W.J. Manning, M.D. Brown, D.A. Crolla, A comparison of the relative benefits of active front steering and active rear steering when coordinated with direct yaw moment control, in: Proceedings of ASME International Mechanical Engineering Congress and Exposition, 2001, pp. 1–6.

Skogestad, 2007

J.F. Sturm, Using seDuMi 1.02, a Matlab toolbox for optimization over symmetric cones. Optimization Methods and Software 11-12, Special issue on Interior Point Methods, 1999, pp. 625–653.

Tjonnas, 2010, Stabilization of automotive vehicles using active steering and adaptive brake control allocation, IEEE Transactions on Control Systems Technology, 18, 545, 10.1109/TCST.2009.2023981

Yang, 2009, Coordinated control of AFS and DYC for vehicle handling and stability based on optimal guaranteed cost theory, Vehicle System Dynamics, 47, 57, 10.1080/00423110701882264

Yoon, 2010, Design of an unified chassis controller for rollover prevention, manuœvrability and lateral stability, Vehicle System Dynamics, 48, 1247, 10.1080/00423110903536403