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An - Integrated Vehicle Dynamic Controller | IEEE Journals & Magazine | IEEE Xplore

An \mbox{LPV}/\mathcal{H}_\infty Integrated Vehicle Dynamic Controller


Abstract:

This paper proposes a new multivariable linear parameter varying (LPV)/H∞ control strategy for global chassis control. The main objective is to handle critical driving si...Show More

Abstract:

This paper proposes a new multivariable linear parameter varying (LPV)/H control strategy for global chassis control. The main objective is to handle critical driving situations by activating several subsystems (semi-active suspensions, active steering, and electromechanical braking actuators) in a hierarchical way. The main idea is to schedule the three control actions (braking, steering and suspension) according to the driving situation evaluated by a specific monitor. Indeed, on one hand, rear braking and front steering are used to enhance the vehicle yaw stability and lateral dynamics, and on the other hand, the semi-active suspensions are used to improve comfort and car handling performance. Due to the LPV/H framework, this new approach allows a smooth coordination to be reached between the various actuators, to ensure robustness and stability of the proposed solution, and to significantly improve the vehicle dynamical behavior. Simulations have been performed on a complex full vehicle model, which has been validated using data obtained from experimental tests on a real Renault Mégane Coupé. Moreover, the suspension system uses magnetorheological dampers whose characteristics have been obtained through experimental identification tests. A comparison between the proposed LPV/H control strategy and a classical linear time-invariant/Hcontroller is performed using the same simulation scenarios and confirms the effectiveness of this approach.
Published in: IEEE Transactions on Vehicular Technology ( Volume: 65, Issue: 4, April 2016)
Page(s): 1880 - 1889
Date of Publication: 22 April 2015

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I. Introduction

Road safety has been an international stake over the past few decades. In particular, enhancing driving characteristics by ensuring stability in critical situations (i.e., safer vehicles) has been recently the main issue for both academic and industrial communities. A new trend is to develop multivariable vehicle dynamic control (VDC) strategies involving several actuators that collaborate to enhance the vehicle dynamics. Such a multiple-input–multiple-output controller allows to adapt the vehicle behavior to the driving situations. This paper focuses on improving both comfort and safety by coordinating the use of the braking, steering, and semi-active suspension subsystems.

References

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