Integrated control of braking and steering for vehicle stability considering the parametric uncertainties and input constraints. (3rd March 2009)

• Record Type: Journal Article
• Authors: Yang, Xiujian; Wang, Zengcai
• Is Part Of: International journal of vehicle autonomous systems. Volume 6:Number 3/4(2008)
• Page Start: 251
• Page End: 275
• Publication Date: 2009-03-03
• Subjects: AFS -- active front steering -- yaw moment control -- chassis coordinated control -- optimal guaranteed cost control -- input constraints -- integrated control -- braking control -- steering control -- vehicle stability -- parametric uncertainties -- vehicle dynamics -- actuator saturation; Autonomous vehicles -- Periodicals; Motor vehicles -- Technological innovations -- Periodicals; Motor vehicles -- Electronic equipment -- Periodicals; Robots -- Control systems -- Periodicals; Intelligent transportation systems -- Periodicals; 629.20285
• Languages: English
• ISSNs: 1471-0226

Abstract

A vehicle dynamics controller is designed to improve vehicle handling and stability by coordinating Active Front Steering (AFS) and differential braking with the consideration of input constraints. An uncertain integrated control model is constructed by choosing the tyre cornering stiffness and longitudinal velocity as the uncertainties. A state feedback integrated controller based on Optimal Guaranteed Cost with input Constraints (OGCC) is developed which can not only attenuate the influence of the modelling uncertainties on vehicle dynamics but also reduce the possibility of actuators' saturation. Simulations on an 8-DOF nonlinear vehicle model demonstrate the satisfying performance of the OGCC scheme.