Title :
A comparison between IMC and Sliding Mode approaches to vehicle yaw control
Author :
Canale, M. ; Fagiano, L. ; Ferrara, A. ; Vecchio, C.
Author_Institution :
Dipt. di Autom. e Inf., Politec. di Torino, Torino
Abstract :
In this paper the problem of vehicle yaw control using a rear active differential is investigated. Due to system uncertainties, time-varying road conditions, and the wide range of operating conditions, which are typical of the automotive context, a robust control technique is required to solve this problem. In this paper, two different robust control schemes, based on enhanced internal model control and second order sliding mode control, respectively, are designed and their performances are compared in simulation. In order to improve the transient behaviour of the proposed control schemes a feedforward control contribution has been added giving rise to a two degree of freedom structure. Improvements on understeer characteristics and damping properties in impulsive manoeuvres are shown relying on simulations performed on an accurate 14 degree of freedom nonlinear model.
Keywords :
control system synthesis; damping; feedforward; nonlinear control systems; road vehicles; robust control; steering systems; time-varying systems; transient response; uncertain systems; variable structure systems; automotive context; damping property; feedforward control; impulsive manoeuvre; internal model control design; nonlinear model; rear active differential; robust control technique; second order sliding mode control design; system uncertainty; time-varying road condition; transient behaviour; understeer characteristic; vehicle yaw control; Adaptive control; Automotive engineering; Control systems; Irrigation; Robust control; Robust stability; Sliding mode control; Time varying systems; Uncertainty; Vehicle dynamics;
Conference_Titel :
American Control Conference, 2008
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4244-2078-0
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2008.4586499
