A multi-rate ISM approach for robust vehicle stability control during cornering. Issue 9 (2018)

• Record Type: Journal Article
• Authors: Regolin, E.; Zambelli, M.; Ferrara, A.
• Is Part Of: IFAC-PapersOnLine. Volume 51:Issue 9(2018)
• Page Start: 249
• Page End: 254
• Publication Date: 2018
• Subjects: Automotive control -- Integral Sliding Mode -- MIMO Control -- predictive control -- steady state cornering; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2018.07.041
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper a Model Predictive Control (MPC) architecture is proposed to achieve a smooth and progressive stabilization of the vehicle in limit cornering conditions. Integral Sliding Mode (ISM) is effectively exploited, in a multi-rate structure, in order to enhance the robustness with respect to changes in the tire/road friction characteristic curve and modelling errors. These typically arise due to the linearizations and discretizations needed in the controllers implementation. The performance is verified in simulation using IPG-CarMaker, a high-fidelity vehicle dynamics simulation software. The results obtained evidence the effectiveness of the proposed approach, also compared to an LQR based architecture.