Robust Yaw Control Design with Active Differential and Active Roll Control Systems
نویسندگان
چکیده
A simple robust yaw controller for the nonlinear single-track model is designed, making use of active di erential and active roll control systems. Robustness is studied for uncertainties in several model parameters, namely the vehicle longitudinal velocity, the road adherence coe cients and the hand wheel angle. Constructive nonlinear dynamics are employed for the controller design. The controller parameters are selected by solving an optimization problem. Stability of the solution is guaranteed by constraints that ensure a minimal distance between the nominal operating point and a stability boundary in the space of uncertain parameters. c ©2004 IFAC
منابع مشابه
Integrated Active Front Steering and Semiactive Rear Differential Control in Rear Wheel Drive Vehicles
Abstract: Many vehicle control systems are based on the yaw rate error to help the driver during oversteer and understeer conditions. The control systems usually operate on brake pressures distributions such as ESP and/or on active front and rear steering control. Recently many papers are focused on the design of integrated global chassis control systems. The main contribution of this paper is ...
متن کاملThe Development of an Active Roll Control System
This paper describes the development of an active roll control system for a tractor semitrailer. The design of the hardware and software are explained. Simulations of the yaw-roll response of the vehicle show that the system will provide significant improvements in rollover stability.
متن کاملH∞ Robust Controller Design and Experimental Analysis of Active Magnetic Bearings with Flexible Rotor System
H∞ controller for active magnetic bearings (AMBs) with flexible rotor system was designed in this paper. The motion equations of AMBs and flexible rotor system are built based on finite element methods (FEM). Weighting function matrices of H∞ controller for AMBs are studied for both the sensitivity and the complementary sensitivity of H∞ control theory. The simulation shows that the H∞ control ...
متن کاملRobust Control for an Autonomous Underwater Vehicle that suppresses Pitch and Yaw Coupling
Attitude control systems for autonomous underwater vehicles are often implemented with separate controllers for pitch motion in the vertical plane and yaw motion in the horizontal plane. We propose a novel time-varying model for a streamlined autonomous underwater vehicle that explicitly displays the coupling between yaw and pitch motion due to nonzero roll angle and/or roll rate. The model fac...
متن کاملHeavy-duty Vehicle Rollover Detection and Active Roll Control
The safety of road vehicles depends on the yaw-roll dynamics. A loss of roll stability results in a rollover accident. Mechanisms to warn against rollover threat and a rollover avoidance control methodology are crucial in designing a successful active safety warning/control system for heavy-duty commercial vehicles. A dynamic rollover metric, Time-To-Rollover (TTR), has become popular in rollov...
متن کامل