Design of a nonlinear braking-based yaw rate controller

Author

Nitzsche, Gunter ; Volz, Benjamin ; RoÌˆbenack, Klaus ; Wagner, Steffen ; Zipser, Stephan

Author_Institution

Fraunhofer Inst. for Transp. & Infrastruct. Syst. IVI, Dresden, Germany

fYear

2014

fDate

24-27 June 2014

Firstpage

1681

Lastpage

1686

Abstract

This paper is going to present a nonlinear controller design of a braking-based yaw rate controller for trucks. The proposed control structure uses a feedforward version of the exact input-output linearization. Additionally, a sliding mode control approach (SMC) is used to overcome model uncertainties as well as control errors. The practicability of the control structure is shown with simulation results of a nonlinear double track model and a three-dimensional multi body model.

Keywords

braking; control system synthesis; feedforward; linearisation techniques; nonlinear control systems; road traffic control; variable structure systems; SMC; control errors; control structure; exact input-output linearization; model uncertainties; nonlinear braking-based yaw rate controller design; nonlinear double track model; sliding mode control approach; three-dimensional multibody model; trucks; Feedforward neural networks; Mathematical model; Stability analysis; Tires; Vehicle dynamics; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2014 European

Conference_Location

Strasbourg

Print_ISBN

978-3-9524269-1-3

Type

conf

DOI

10.1109/ECC.2014.6862183

Filename

6862183