TY - GEN
T1 - Vehicle lateral motion control considering network-induced delay and tire force saturation
AU - Jing, Hui
AU - Wang, Rongrong
AU - Hu, Chuan
AU - Wang, Jinxiang
AU - Yan, Fengjun
AU - Chen, Nan
N1 - Publisher Copyright:
© 2016 American Automatic Control Council (AACC).
PY - 2016/7/28
Y1 - 2016/7/28
N2 - This paper presents a robust H∞ output-feedback based control strategy for the vehicle lateral motion control considering network-induced delay and tire force saturation. The unavoidable time delay in the in-vehicle networks degrades the control performance, and even deteriorates the system stability. In addition, due to the friction limit of the tire force, the tire lateral force is suffering saturation phenomenon, which also deteriorates the control effect in extreme driving conditions. To handle the network-induced delay and tire force saturation, a robust H∞ controller is presented to regulate the vehicle lateral motion. An output-feedback control schema, which does not need the vehicle lateral velocity, is designed to reduce the cost of the control system. The tire cornering stiffness uncertainty and external disturbances are also considered in the controller design to improve the robustness of the proposed controller. The comparative simulation results based on Carsim and Simulink verify the effectiveness and robustness of the proposed control strategy.
AB - This paper presents a robust H∞ output-feedback based control strategy for the vehicle lateral motion control considering network-induced delay and tire force saturation. The unavoidable time delay in the in-vehicle networks degrades the control performance, and even deteriorates the system stability. In addition, due to the friction limit of the tire force, the tire lateral force is suffering saturation phenomenon, which also deteriorates the control effect in extreme driving conditions. To handle the network-induced delay and tire force saturation, a robust H∞ controller is presented to regulate the vehicle lateral motion. An output-feedback control schema, which does not need the vehicle lateral velocity, is designed to reduce the cost of the control system. The tire cornering stiffness uncertainty and external disturbances are also considered in the controller design to improve the robustness of the proposed controller. The comparative simulation results based on Carsim and Simulink verify the effectiveness and robustness of the proposed control strategy.
UR - https://www.scopus.com/pages/publications/84992159588
U2 - 10.1109/ACC.2016.7526756
DO - 10.1109/ACC.2016.7526756
M3 - 会议稿件
AN - SCOPUS:84992159588
T3 - Proceedings of the American Control Conference
SP - 6881
EP - 6886
BT - 2016 American Control Conference, ACC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 American Control Conference, ACC 2016
Y2 - 6 July 2016 through 8 July 2016
ER -