LPV/H∞ controller for vehicle handling & stability enhancement

M. Doumiati, O. Sename, J. Martinez, L. Dugard, P. Gaspar, Z. Szabo, J. Bokor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The intent of this article is to present a methodology that deals with steering/braking coordination task, for automotive vehicle yaw control scheme. Because of the tire nonlinearity that is mainly due to the saturation of cornering forces, vehicle handling performance is improved but limited to a certain extent only by steering control. Direct yaw moment control using braking forces is effective not only in the linear region but also in the nonlinear ranges of the tire friction circle. However, braking effect is not desirable in normal driving situations. Consequently, the maximum benefit is gained through the coordinated and combined use of both steering and braking control methods. In this study, the coordination task is achieved through a suitable gain scheduled LPV (Linear Parameter Varying) controller, where braking control is activated only when the vehicle reaches the handling limits. The controller is synthetized within the LMI framework, while ensuring linear optimal H∞ performances. Computer simulations, carried out on a complex full vehicle model subject to critical driving situations, show that the vehicle handling is much improved by the integrated control system compared against an uncontrolled vehicle.

Original languageEnglish
Title of host publicationProceedings of the 12th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2010
EditorsIstvan Zobory
PublisherBudapest University of Technology and Economics
Pages49-60
Number of pages12
ISBN (Electronic)9789633130582
Publication statusPublished - 2010
Event12th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2010 - Budapest, Hungary
Duration: Nov 8 2010Nov 10 2010

Publication series

NameProceedings of the Mini Conference on Vehicle System Dynamics, Identification and Anomalies

Other

Other12th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2010
CountryHungary
CityBudapest
Period11/8/1011/10/10

Keywords

  • Active safety
  • Braking
  • H∞
  • LPV
  • Steering
  • Vehicle yaw control

ASJC Scopus subject areas

  • Mechanical Engineering

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  • Cite this

    Doumiati, M., Sename, O., Martinez, J., Dugard, L., Gaspar, P., Szabo, Z., & Bokor, J. (2010). LPV/H∞ controller for vehicle handling & stability enhancement. In I. Zobory (Ed.), Proceedings of the 12th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2010 (pp. 49-60). (Proceedings of the Mini Conference on Vehicle System Dynamics, Identification and Anomalies). Budapest University of Technology and Economics.