A review of yaw rate and sideslip controllers for passenger vehicles

Manning, Warren J.; Crolla, D.A.

doi:10.1177/0142331207072989

Cited by 85 publications

(60 citation statements)

References 29 publications

(33 reference statements)

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“…Many researchers have claimed that information about the yaw rate alone is not always sufficient to identify an unstable vehicle operating at its physical limit, and argue that more comprehensive control can be achieved by simultaneously considering the vehicle sideslip angle, to which the driver is particularly sensitive (preferring small angles [9]). Since the active steering system has a limited range of effectiveness, however, knowledge of the sideslip angle is not expected to be of substantial benefit in emergency situations.…”

Section: Development Of An Advanced Fuzzy Steering Controllermentioning

confidence: 99%

Development of an Advanced Fuzzy Active Steering Controller and a Novel Method to Tune the Fuzzy Controller

Jalali¹,

McPhee²,

Lambert³

2013

SAE Int. J. Passeng. Cars – Electron. Electr. Syst.

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A two-passenger, all-wheel-drive urban electric vehicle (AUTO21EV) with four direct-drive in-wheel motors has been designed and developed at the University of Waterloo. An advanced genetic-fuzzy active steering controller is developed based on this vehicle platform. The rule base of the fuzzy controller is developed from expert knowledge, and a multicriteria genetic algorithm is used to optimize the parameters of the fuzzy active steering controller. To evaluate the performance of this controller, a computational model of the AUTO21EV is driven through several standard test maneuvers using an advanced path-following driver model. As the final step in the evaluation process, the genetic-fuzzy active steering controller is implemented in a hardware-and operator-in-the-loop driving simulator to confirm its performance and effectiveness.

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Section: Development Of An Advanced Fuzzy Steering Controllermentioning

confidence: 99%

Development of an Advanced Fuzzy Active Steering Controller and a Novel Method to Tune the Fuzzy Controller

Jalali¹,

McPhee²,

Lambert³

2013

SAE Int. J. Passeng. Cars – Electron. Electr. Syst.

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“…The volume of published literature is large, exceeding 1000 papers. Of this literature, there are 250 examining yaw and sideslip control [9]. Dynamics of 4-Wheel Steering Car Throughout this paper it is assumed that the essential features of the lateral dynamics of the car can be described using the single-track model show in [7], [8].…”

Section: Simplified Lateral Dynamicsmentioning

confidence: 99%

Fuzzy Control Strategy Applied to Adjustment of Front Steering Angle of a 4WSD Agricultural Mobile Robot

2012

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Abstract. This paper presents the preliminary studies of the control strategy based in fuzzy logic, projected for the steering system of AGRIBOT project that consist of a wheeled autonomous mobile robotic in real scale endowed with four independent steering and driven wheels (4WSD). In this work we present a preliminary fuzzy controller design applied to front steering angle, using a multivariable plant which incorporates simplified linear model of lateral dynamics of a vehicle whose input are linear combination of rear and front steering angles. The fuzzy control strategy was decided because provides flexible way to deploy with embedded systems. Simulations are used to illustrate the designed controller performance. We use Ackerman geometry to trace front steering angle that allows the vehicle to perform correctly a given maneuver preserving a minimum level of stability and maneuverability. The goal is to establish a relationship between steering input commands and the control commands to the actuators so that it is possible to adjust the attitude of the actuators over the movement axis, as the trajectory change.Keywords: Ackerman geometry, fuzzy controller, Two-Track Vehicle, Lateral dynamics, mobile robot, bike model, steering angle.Resumen. Este trabajo presenta los resultados preliminares de la estrategia de control basada en lógica difusa, proyectada para el sistema de dirección del proyecto Agribot, que consiste en un robot móvil autónomo con ruedas en escala real dotado de dirección a las cuatro ruedas motrices independientes (4WSD). Se presenta un diseño preliminar de un controlador difuso aplicado a ángulo de dirección frontal, utilizando una planta multivariable que incorpora el modelo lineal simplificado de la dinámica lateral de un vehículo, cuya entrada es la combinación lineal de los ángulos de dirección trasera como delantera. Se eligió como estrategia el control difuso debido a que proporciona una forma flexible para desplegar los sistemas embebidos. Las simulaciones se usan para ilustrar el rendimiento del controlador diseñado. Se acudió a la geometría Ackerman para trazar el ángulo de dirección delantera que permite que el vehículo funcione correctamente en una maniobra dada la preservación de un nivel mínimo de estabilidad y maniobrabilidad. El objetivo es establecer una relación entre la entrada de órdenes de dirección y los comandos de control a los actuadores de modo que es posible ajustar la actitud de los actuadores sobre el eje de movimiento, como el cambio de trayectoria.Palabras clave: Geometría Ackerman; Controlador difuso; Vehículos de pista; Dinámica lateral; Robot móvil; Modelo de bicicleta.

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“…An extensive review of 68 papers on yaw-rate and side slip control is given in [10]. One of the main conclusions of this paper is that there is still a significant research effort required to address the subjective performance of systems.…”

Section: Introductionmentioning

confidence: 99%

“…A clear function of active steering in addition to current day ESC systems is found in the sense that it can attenuate the yaw response of the vehicle whilst for instance braking on a split-μ surface. The works of Ackermann [11] and Ackermann and Sienel [12]are also discussed, the author of [10] is critical about this work as he argues that the system's performance is questionable in limit handling situations. Another critical aspect is the lack of hardware specifications for the tests that were performed.…”

Section: Introductionmentioning

confidence: 99%

A robust control analysis for a steer-by-wire vehicle with uncertainty on the tyre forces

Sande

Zegelaar

Besselink

et al. 2016

Vehicle System Dynamics

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This paper proposes guidelines for controller design for steer-by-wire vehicles. The proposed controller removes the velocity dependency of the vehicle dynamics and accounts for the nonlinear characteristics of the lateral tyre force. Using an H ∞ approach, bounds on the closed loop sensitivity are presented, which results in guidelines for the controller design. Using the designed controller, simulations using a multi-body model show that the yaw dynamics of the vehicle are stabilised for extreme manoeuvres. ARTICLE HISTORY

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A review of yaw rate and sideslip controllers for passenger vehicles

Cited by 85 publications

References 29 publications

Development of an Advanced Fuzzy Active Steering Controller and a Novel Method to Tune the Fuzzy Controller

Development of an Advanced Fuzzy Active Steering Controller and a Novel Method to Tune the Fuzzy Controller

Fuzzy Control Strategy Applied to Adjustment of Front Steering Angle of a 4WSD Agricultural Mobile Robot

A robust control analysis for a steer-by-wire vehicle with uncertainty on the tyre forces

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