Vehicle integrated control for steering and traction systems by μ-synthesis

Ōno, Eiichi; Takanami, Kaoru; Iwama, N.; Hayashi, Yukimasa; Hirano, Yutaka; Satoh, Yukiharu

doi:10.1016/0005-1098(94)90068-x

Cited by 41 publications

(17 citation statements)

References 6 publications

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“…Since the only acting forces on the vehicle are the forces at the front and rear tires F f and F r , respectively, we havė 3 The longitudinal slip is defined as the normalized difference between the wheel axle velocity and the velocity at the wheel. The condition s = 0 indicates the two to be equal, which means perfect (ideal) adhesion to the road surface.…”

Section: Vehicle Modelmentioning

confidence: 99%

“…One concept that has been demonstrated with some successful results in double lane change maneuvers [5] is to decouple the two systems. A different approach is to utilize linear MIMO control synthesis by applying µ-synthesis to a transformed model of the vehicle, and by optimizing the control objective under structured model uncertainties [3].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Drive-by-wire vehicle stabilization and yaw regulation: a hybrid Model Predictive Control design

Bernardiniy

Cairanoz

Bemporad

et al. 2009

Proceedings of the 48h IEEE Conference on Decision and Control (CDC) Held Jointly With 2009 28th Chinese Control Conference

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Electronic Stability Control (ESC) and Active Front Steering (AFS) have been introduced in production vehicles in recent years, due to improved vehicle maneuverability and the effects in reducing single vehicle accident. We propose a hybrid Model Predictive Control (MPC) design for coordinated control of AFS and ESC. By formulating the vehicle dynamics with respect to the front and rear tire slip angles and by approximating the tire-force characteristics by piecewise affine functions, the vehicle dynamics are formulated as a linear hybrid dynamical system. This model is used to design a hybrid model predictive controller. The proposed model formulation allows one to visually analyze the stability region of the closedloop system and to assess the stabilizing capability of the hybrid MPC controller. Simulations of the controller in closed-loop with an accurate nonlinear model are presented.

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Section: Vehicle Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Drive-by-wire vehicle stabilization and yaw regulation: a hybrid Model Predictive Control design

Bernardiniy

Cairanoz

Bemporad

et al. 2009

Proceedings of the 48h IEEE Conference on Decision and Control (CDC) Held Jointly With 2009 28th Chinese Control Conference

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“…An integrated control strategy that coordinates steering and traction to improve maneuverability in global turning motions was proposed in [5]. A method of distributing the target force and moment of a vehicle to each tire to ensure steer-ability and stability was proposed in [6].…”

Section: Introductionmentioning

confidence: 99%

Constrained Holistic Cornering Control

Kasinathan

Khajepour

Chen

et al. 2014

2014 American Control Conference

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The objective of the Holistic Corner Control (HCC) is to keep the vehicle on a target path by minimizing the error between the actual and target center of gravity (CG) forces and moment. A real time optimization procedure has been proposed in order to calculate the necessary tire force adjustments to minimize the error and to give the driver a normal driving feel even though the road conditions differ from what is perceived. In this paper, we extend the HCC methodology by adding constraints to the optimization problem. Some important applications are (1) differential braking on all wheels (AWD), applicable to both electrically driven wheels or conventional cars; and (2) hybrid torque vectoring on front wheels (FWD) and differential braking on the rear wheels. Performance of the constrained HCC is compared against the HCC optimization using both simulation and experimental results.

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“…In [1] and [2] linear H ∞ controllers that stabilize the vehicle against uncertainty have been proposed. The µ-synthesis has been applied to the linearized vehicle model in [3], obtaining a controller which provides robust stability against perturbations generated in various driving conditions. In [4] a fuzzy-logic controller is proposed to improve vehicle handling and stability when non-linearities are present in the model.…”

Section: Introductionmentioning

confidence: 99%

A numerical algorithm for nonlinear L<inf>2</inf>-gain optimal control with application to vehicle yaw stability control

Milić

Cairano

Kasač

et al. 2012

2012 IEEE 51st IEEE Conference on Decision and Control (CDC)

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This paper is concerned with L2-gain optimal control approach for coordinating the active front steering and differential braking to improve vehicle yaw stability and cornering control. The vehicle dynamics with respect to the tire slip angles is formulated and disturbances are added on the front and rear cornering forces characteristics modelling, for instance, variability on road friction. The mathematical model results in input-affine nonlinear system. A numerical algorithm based on conjugate gradient method to solve L2-gain optimal control problem is presented. The proposed algorithm, which has backward-in-time structure, directly finds the feedback control and the "worst case" disturbance variables. Simulations of the controller in closed-loop with the nonlinear vehicle model are shown and discussed.

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Vehicle integrated control for steering and traction systems by μ-synthesis

Cited by 41 publications

References 6 publications

Drive-by-wire vehicle stabilization and yaw regulation: a hybrid Model Predictive Control design

Drive-by-wire vehicle stabilization and yaw regulation: a hybrid Model Predictive Control design

Constrained Holistic Cornering Control

A numerical algorithm for nonlinear L<inf>2</inf>-gain optimal control with application to vehicle yaw stability control

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