Vehicle yaw control via coordinated use of steering/braking systems

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

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

11 Citations (Scopus)

Abstract

The aim of this paper is to present a novel methodology that deals with steering/ braking coordination task for vehicle yaw control. For steerability enhancement, only active steering control is involved. However, when the vehicle reaches the handling limits, both steering and braking collaborate together to ensure vehicle stability. Judging the vehicle stability region is deduced from the phase-plane of the sideslip angle and its time derivative. The coordination of the steering/braking actuators is achieved through a suitable gain scheduled LPV (Linear Parameter Varying) controller. The controller is synthesized within the LMI (Linear Matrix Inequalities) framework, while warranting H∞ performances. The simulation results show the effectiveness of the proposed control scheme when the vehicle is subject to various driving situations.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Pages644-649
Number of pages6
Volume18
EditionPART 1
DOIs
Publication statusPublished - 2011
Event18th IFAC World Congress - Milano, Italy
Duration: Aug 28 2011Sep 2 2011

Other

Other18th IFAC World Congress
CountryItaly
CityMilano
Period8/28/119/2/11

Fingerprint

Braking
Controllers
Linear matrix inequalities
Actuators
Derivatives

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Doumiati, M., Sename, O., Martinez, J., Dugard, L., Gaspar, P., Szabo, Z., & Bokor, J. (2011). Vehicle yaw control via coordinated use of steering/braking systems. In IFAC Proceedings Volumes (IFAC-PapersOnline) (PART 1 ed., Vol. 18, pp. 644-649) https://doi.org/10.3182/20110828-6-IT-1002.01181

Vehicle yaw control via coordinated use of steering/braking systems. / Doumiati, M.; Sename, O.; Martinez, J.; Dugard, L.; Gaspar, P.; Szabo, Z.; Bokor, J.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 18 PART 1. ed. 2011. p. 644-649.

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

Doumiati, M, Sename, O, Martinez, J, Dugard, L, Gaspar, P, Szabo, Z & Bokor, J 2011, Vehicle yaw control via coordinated use of steering/braking systems. in IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 edn, vol. 18, pp. 644-649, 18th IFAC World Congress, Milano, Italy, 8/28/11. https://doi.org/10.3182/20110828-6-IT-1002.01181
Doumiati M, Sename O, Martinez J, Dugard L, Gaspar P, Szabo Z et al. Vehicle yaw control via coordinated use of steering/braking systems. In IFAC Proceedings Volumes (IFAC-PapersOnline). PART 1 ed. Vol. 18. 2011. p. 644-649 https://doi.org/10.3182/20110828-6-IT-1002.01181
Doumiati, M. ; Sename, O. ; Martinez, J. ; Dugard, L. ; Gaspar, P. ; Szabo, Z. ; Bokor, J. / Vehicle yaw control via coordinated use of steering/braking systems. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 18 PART 1. ed. 2011. pp. 644-649
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