Tracking control by integrated steering and braking systems using an observer-based estimation

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

1 Citation (Scopus)

Abstract

An integrated control structure, which includes an active steering and an active brake system, is proposed for tracking the path of the vehicle. Besides tracking this control also guarantees the prevention of rollovers. The method is based on a Linear Parameter Varying (LPV) model of yaw-roll dynamics. A parameter-dependent LPV controller based on the H method is designed. Since in this model the time-varying adhesion coefficient is unknown, an adaptive observer-based method is proposed for its estimation. Both the estimation and the control system are demonstrated through vehicle simulations.

Original languageEnglish
Title of host publication2007 European Control Conference, ECC 2007
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages619-624
Number of pages6
ISBN (Electronic)9783952417386
Publication statusPublished - Jan 1 2007
Event2007 9th European Control Conference, ECC 2007 - Kos, Greece
Duration: Jul 2 2007Jul 5 2007

Publication series

Name2007 European Control Conference, ECC 2007

Other

Other2007 9th European Control Conference, ECC 2007
CountryGreece
CityKos
Period7/2/077/5/07

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Gaspar, P., Szabo, Z., & Bokor, J. (2007). Tracking control by integrated steering and braking systems using an observer-based estimation. In 2007 European Control Conference, ECC 2007 (pp. 619-624). [7068314] (2007 European Control Conference, ECC 2007). Institute of Electrical and Electronics Engineers Inc..