A robust IMC approach for stability control of 4WS vehicles

A robust nonparametric approach to improve vehicle yaw rate dynamics by means of a rear active differential is introduced. An additive model set is used to describe the uncertainty arising from the wide range of the vehicle operating situations. The effects of saturation of the control variable (i.e. yaw moment) have been taken into account by adopting enhanced internal model control methodologies in the design of the feedback controller. In order to improve the transient behavior a feedforward control contribution has been added giving rise to a two degree of freedom structure. Improvements on understeering characteristics, stability in demanding conditions such as mu-split braking and damping properties in impulsive manoeuvres are shown through simulation results performed on an accurate 14 degrees of freedom nonlinear model.

[1]  Evanghelos Zafiriou,et al.  Robust process control , 1987 .

[2]  Lorenzo Fagiano,et al.  Robust vehicle yaw control using an active differential and IMC techniques , 2007 .

[3]  Massimo Canale.  Robust control from data in presence of input saturation , 2004 .

[4]  J. Christian Gerdes,et al.  Integrating Inertial Sensors with GPS for Vehicle Dynamics Control , 2004 .

[5]  Martin Mönnigmann,et al.  ROBUST YAW CONTROL DESIGN WITH ACTIVE DIFFERENTIAL AND ACTIVE ROLL CONTROL SYSTEMS , 2005 .

[6]  Vadim I. Utkin,et al.  Linear and nonlinear controller design for robust automatic steering , 1995, IEEE Trans. Control. Syst. Technol..

[7]  Jürgen Ackermann.  Robust decoupling, ideal steering dynamics and yaw stabilization of 4WS cars , 1994, Autom..

[8]  A. T. van Zanten,et al.  Bosch ESP Systems: 5 Years of Experience , 2000 .

[9]  Rajesh Rajamani,et al.  Vehicle dynamics and control , 2005 .

[10]  Hans B. Pacejka,et al.  A New Tire Model with an Application in Vehicle Dynamics Studies , 1989 .

[11]  F Frigerio,et al.  Objective evaluation of handling quality , 2002 .

[12]  S. Malan,et al.  Robust control from data via uncertainty model sets identification , 2004 .

[13]  Stefano Malan,et al.  Robust performance design for a car steering device , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[14]  Alex Zheng,et al.  Anti-windup design for internal model control , 1994 .

[15]  J. Christian Gerdes,et al.  Integrating Inertial Sensors With Global Positioning System (GPS) for Vehicle Dynamics Control , 2004 .

[16]  Hideo Takeda,et al.  A Review of Four-Wheel Steering Studies from the Viewpoint of Vehicle Dynamics and Control , 1989 .

[17]  Rajesh Rajamani,et al.  Development and experimental evaluation of a slip angle estimator for vehicle stability control , 2006 .

[18]  Wolfgang Sienel,et al.  Robust Control for Automatic Steering , 1990, 1990 American Control Conference.

[19]  Yutaka Hirano,et al.  Development of Robust Active Rear Steering Control for Automobile , 1997 .

[20]  T. Bunte,et al.  Robust two degree of freedom vehicle steering controller design , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[21]  Douglas J. Leith,et al.  Control of Yaw Rate and Sideslip in 4-Wheel Steering Cars with Actuator Constraints , 2003, European Summer School on Multi-AgentControl.