Control of Yaw Rate and Sideslip in 4-Wheel Steering Cars with Actuator Constraints

Vilaplana, Miguel; Mason, Oliver; Leith, Douglas J.; Leithead, W.E.

doi:10.1007/978-3-540-30560-6_9

Cited by 15 publications

(19 citation statements)

References 11 publications

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“…Example 28 An example of how constrained switching can arise in practical situations is given in [170], where the problem of designing a controller to deliver prescribed handling behaviour for a four-wheel steering vehicle is considered. The controller described in [170] operates by manipulating the front and rear steering angles of the vehicle to achieve the desired behaviour.…”

Section: Restricted Switchingmentioning

confidence: 99%

“…The controller described in [170] operates by manipulating the front and rear steering angles of the vehicle to achieve the desired behaviour. Due to physical considerations, the steering angle of the rear tyres is subject to a tight constraint, and when the maximal allowed steering angle is reached, a change of control action is required leading to an abrupt switch in the overall system dynamics.…”

Section: Restricted Switchingmentioning

confidence: 99%

See 1 more Smart Citation

Stability Criteria for Switched and Hybrid Systems

Shorten¹,

Wirth²,

Mason³

et al. 2007

SIAM Rev.

Self Cite

912

558

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The study of the stability properties of switched and hybrid systems gives rise to a number of interesting and challenging mathematical problems. The objective of this paper is to outline some of these problems, to review progress made in solving these problems in a number of diverse communities, and to review some problems that remain open. An important contribution of our work is to bring together material from several areas of research and to present results in a unified manner. We begin our review by relating the stability problem for switched linear systems and a class of linear differential inclusions. Closely related to the concept of stability are the notions of exponential growth rates and converse Lyapunov theorems, both of which are discussed in detail. In particular, results on common quadratic Lyapunov functions and piecewise linear Lyapunov functions are presented, as they represent constructive methods for proving stability, and also represent problems in which significant progress has been made. We also comment on the inherent difficulty of determining stability of switched systems in general which is exemplified by NP-hardness and undecidability results. We then proceed by considering the stability of switched systems in which there are constraints on the switching rules, through both dwell time requirements and state dependent switching laws. Also in this case the theory of Lyapunov functions and the existence of converse theorems is reviewed. We briefly comment on the classical Lur'e problem and on the theory of stability radii, both of which contain many of the features of switched systems and are rich sources of practical results on the topic. Finally we present a list of questions and open problems which provide motivation for continued research in this area.

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Section: Restricted Switchingmentioning

confidence: 99%

Section: Restricted Switchingmentioning

confidence: 99%

Stability Criteria for Switched and Hybrid Systems

Shorten¹,

Wirth²,

Mason³

et al. 2007

SIAM Rev.

Self Cite

912

558

View full text Add to dashboard Cite

show abstract

“…A common problem to all 4WS solutions is the fact that the values of both the front and rear steering angles are subject to physical constraints, causing the saturation of the input variables with possible deteriorations of the control performances. An analysis of saturation effects on the stability performances has been introduced in [6]. In addition, as the vehicle operates under a wide range of conditions of speed, load, friction etc., the active control system has to guarantee the safety (i.e.…”

Section: Introductionmentioning

confidence: 99%

“…More specifically, the use of 4WS by wire has been considered, e.g. in [5], where the proposed control structure is able to decouple the control of lateral acceleration and the yaw rate control, and in [6], where individual channel design techniques have been used to design yaw rate and sideslip angle feedbacks. A common problem to all 4WS solutions is the fact that the values of both the front and rear steering angles are subject to physical constraints, causing the saturation of the input variables with possible deteriorations of the control performances.…”

Section: Introductionmentioning

confidence: 99%

Stability control of 4WS vehicles using robust IMC techniques

Canale

Fagiano

2008

Vehicle System Dynamics

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A robust nonparametric approach to vehicle stability control by means of a four-wheel steer by wire system is introduced. Both yaw rate and sideslip angle feedbacks are used in order to effectively take into account safety as well as handling performances. Reference courses for yaw rate and sideslip angle are computed on the basis of the vehicle speed and the handwheel angle imposed by the driver. An output multiplicative model set is used to describe the uncertainty arising from a wide range of vehicle operating situations. The effects of saturation of the control variables (i.e. front and rear steering angles) are taken into account by adopting enhanced internal model control methodologies in the design of the feedback controller. Actuator dynamics are considered in the controller design. Improvements on understeer characteristics, stability in demanding conditions such as turning on low friction surfaces, damping properties in impulsive manoeuvres, and improved handling in closed loop (i.e. with driver feedback) manoeuvres are shown through extensive simulation results performed on an accurate 14 degrees of freedom nonlinear model, which proved to give good modelling results as compared with collected experimental data.

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“…Furthermore, switching between systems differing by rank one arises in a number of practical applications. For example, in Vilaplana et al (2005) a control system for four-wheel steering vehicles is described which involves switching between a pair of LTI systems differing by rank one whose parameters are subject to interval uncertainty. It should also be noted that this class of systems has received a considerable amount of attention in the literature ; Narendra and Goldwyn (1964); King and Nathanson (2004).…”

Section: Introductionmentioning

confidence: 99%