Yaw Control via Combined Braking and Steering
Paper i proceeding, 2009

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.

Uncertain systems

Linear parameter varying systems

Automotive

Författare

Balint Vanek

Balázs Adam Kulcsár

Paolo Falcone

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Gary Balas

European Control Conference (ECC), 23-26 August 2009, Budapest, Hungary,

3652-3658

Ämneskategorier

Farkostteknik

Reglerteknik

ISBN

978-395241739-3