Advantages of rear steer in LTI and LPV vehicle stability control

Author

Selmanaj, Donald ; Corno, Matteo ; Sename, O. ; Savaresi, Sergio

Author_Institution

Dipt. di Elettron., Inf. e Bioingegneria, Inf. e Bioingegneria, Milan, Italy

fYear

2013

fDate

10-13 Dec. 2013

Firstpage

3523

Lastpage

3528

Abstract

In this paper, the advantages of the rear wheel steer in robust yaw stability control of four wheeled vehicles are shown. A MIMO vehicle dynamic stability controller (VDSC) involving front steer, rear steer and rear braking torques is synthesized. The comparison between a vehicle with and without rear steer is done on avoidance maneuver using both LTI and gain-scheduling LPV controller. Both robust H_∞ controllers are built by the solution of an LMI problem. To better evaluate the influence of the rear steer on the performance time domain indexes are introduced. The simulation results show that active rear steer enhances vehicle handling on a low friction surface.

Keywords

H^∞ control; MIMO systems; braking; gain control; linear matrix inequalities; linear systems; road vehicles; robust control; time-domain analysis; vehicle dynamics; H_∞ controllers; LMI problem; LPV control; LTI control; MIMO controller; avoidance maneuver; front steer torques; gain-scheduling controller; linear parameter-varying controller; linear time invariant controller; low friction surface; performance time domain indexes; rear braking torques; rear steer torques; rear wheel steer; robust yaw stability control; wheeled vehicles; Actuators; Bicycles; Indexes; Stability criteria; Wheels; LPV controller; four-wheel steering; rear braking torques; yaw stability control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on

Conference_Location

Firenze

ISSN

0743-1546

Print_ISBN

978-1-4673-5714-2

Type

conf

DOI

10.1109/CDC.2013.6760424

Filename

6760424