Nonlinear feedback control of Vehicle Speed

Abbassi, Younes; Amirat, Youcef; Outbib, Rachid

doi:10.3182/20110828-6-it-1002.00360

Cited by 3 publications

(3 citation statements)

References 4 publications

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“…Note that the control of nonlinear systems has been the subject of several studies in the literature (Abbassi et al 2011;. Thus, a great number of results have been proposed.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear feedback control and trajectory tracking of vehicle

Abbassi¹,

Amirat²,

Outbib³

2014

International Journal of Systems Science

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This paper mainly studies nonlinear feedback control applied to the nonlinear vehicle dynamics with varying velocity. The main objective of this study is the stabilisation of longitudinal, lateral and yaw angular vehicle velocities. To this end, a nonlinear vehicle model is developed which takes both the lateral and longitudinal vehicle dynamics into account. Based on this model, a method to build a nonlinear state feedback control is first designed by which the complexity of system structure can be simplified. The obtained system is then synthesised by the combined Lyapunov-LaSalle method. The simulation results show that the proposed control can improve stability and comfort of vehicle driving. Moreover, this paper presents a lemma which ensures the trajectory tracking and path-following problem for vehicle. It can also be exploited simultaneously to solve both the tracking and path-following control problems of the vehicle ride and driving stability. We also show how the results of the lemma can be applied to solve the path-following problem, in which the vehicle converges and follows a designed path. The effectiveness of the proposed lemma for trajectory tracking is clearly demonstrated by simulation results.

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“…Note that the control of nonlinear systems has been the subject of several studies in the literature (Abbassi et al 2011;. Thus, a great number of results have been proposed.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear feedback control and trajectory tracking of vehicle

Abbassi¹,

Amirat²,

Outbib³

2014

International Journal of Systems Science

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“…This work treats the vehicle control module and aims to propose new solutions that can enhance the safety of an autonomous vehicle. Indeed, several control techniques can be found in the literature but most of these techniques address the lateral control ( [1], [2], [3], [4], [5], [6]) and the longitudinal control ( [7], [8], [9], [10], [11], [12]) of the vehicle dynamics separately. Actually, the vehicle dynamics are strongly coupled, and in order to control the vehicle and handle its safety and stability, these dynamics coupling should be taken into account when designing the vehicle controller.…”

Section: Introductionmentioning

confidence: 99%

Coupled longitudinal/lateral controllers for autonomous vehicles navigation, with experimental validation

Chebly

Talj

Charara

2019

Control Engineering Practice

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“…To study the vehicle dynamics, a range of linear and nonlinear models of road vehicles have been reported in the literature for analysis of ride, handling and directional control characteristics. These models vary from simple linear models [3,4] to complex nonlinear models [4,5]. Actually, the vehicle dynamics is coupled into a single dynamic model in which all elements are interconnected and act differently.…”

mentioning

confidence: 99%

Practical Model for Real Structure and Performance of Heavy Vehicles

Abbassi¹,

Aït-Amirat²,

Outbib³

2015

JMEA

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Abstract:In this paper, a new practical model for real heavy vehicle structure is developed to investigate dynamic responses under steering/acceleration or braking maneuvers. The generalized six DoFs (degrees-of-freedom) nonlinear vehicle model M 1 including longitudinal, lateral, yaw, vertical, roll and pitch dynamics is validated using the measured data reported in different studies. This model takes the CG (center of gravity) of sprung mass, unsprung mass and total vehicle mass into account. Based on this model, the effects of the inertia parameters on the vehicle dynamic responses are investigated for more comprehensive assessments of the model structure. Another nonlinear vehicle model M 2 derived from M 1 which assumes that the vehicle has a single CG as reported in literature is also developed. The dynamic responses of the vehicle model M 1 are compared with those of the model M 2 to demonstrate the performance potential of the proposed nonlinear model. The results of dynamic responses with the nonlinear vehicle model M 1 suggest that the model could offer considerable potential in realizing enhanced ride and handling performance, as well as improved roll and pitch properties in a flexible manner.

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Nonlinear feedback control of Vehicle Speed

Cited by 3 publications

References 4 publications

Nonlinear feedback control and trajectory tracking of vehicle

Nonlinear feedback control and trajectory tracking of vehicle

Coupled longitudinal/lateral controllers for autonomous vehicles navigation, with experimental validation

Practical Model for Real Structure and Performance of Heavy Vehicles

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