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Robust tracking control of vehicle lateral dynamics

Journal Article


Abstract


  • In this paper, a robust yaw moment controller is designed to improve vehicle handling and stability. Three issues regarding to vehicle mass variation cornering stiffness uncertainty, and tracking control are considered in the controller design process. To deal with these issues, parameter-dependent control strategy, norm-bounded uncertainty description, and tracking error feedback are applied. The control objective is to stabilise the closed-loop system and to optimise the tracking performance on yaw rate and sideslip angle with respect to their targets. The condition for designing such a controller is derived in terms of linear matrix inequality (LMI). Numerical simulations on a nonlinear vehicle model are performed to validate the effectiveness of the proposed approach. The results show that the designed controller can improve vehicle handling and stability regardless of the variation of vehicle mass and the change of road surface.

Publication Date


  • 2014

Citation


  • H. Du, N. Zhang & W. Li, "Robust tracking control of vehicle lateral dynamics," International Journal of Vehicle Design: journal of vehicle engineering, automotive technology and components, vol. 65, (4) pp. 314-335, 2014.

Scopus Eid


  • 2-s2.0-84905011242

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/3356

Number Of Pages


  • 21

Start Page


  • 314

End Page


  • 335

Volume


  • 65

Issue


  • 4

Abstract


  • In this paper, a robust yaw moment controller is designed to improve vehicle handling and stability. Three issues regarding to vehicle mass variation cornering stiffness uncertainty, and tracking control are considered in the controller design process. To deal with these issues, parameter-dependent control strategy, norm-bounded uncertainty description, and tracking error feedback are applied. The control objective is to stabilise the closed-loop system and to optimise the tracking performance on yaw rate and sideslip angle with respect to their targets. The condition for designing such a controller is derived in terms of linear matrix inequality (LMI). Numerical simulations on a nonlinear vehicle model are performed to validate the effectiveness of the proposed approach. The results show that the designed controller can improve vehicle handling and stability regardless of the variation of vehicle mass and the change of road surface.

Publication Date


  • 2014

Citation


  • H. Du, N. Zhang & W. Li, "Robust tracking control of vehicle lateral dynamics," International Journal of Vehicle Design: journal of vehicle engineering, automotive technology and components, vol. 65, (4) pp. 314-335, 2014.

Scopus Eid


  • 2-s2.0-84905011242

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/3356

Number Of Pages


  • 21

Start Page


  • 314

End Page


  • 335

Volume


  • 65

Issue


  • 4