Gain-Scheduled H∞ for Vehicle High-Level Motion Control

Kissai, Moad; Monsuez, Bruno; Tapus, Adriana; Mouton, Xavier; Martinez, Didier

doi:10.1145/3284516.3284544

Cited by 3 publications

(12 citation statements)

References 19 publications

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“…The pneumatic system moves then a piston to move both rear wheels ( Figure 4). The validation of the model is detailed in [9].…”

Section: The 4ws Systemmentioning

confidence: 99%

“…Assistance systems as the 4WS system are actually implemented by car manufacturers in an open-loop using feedforward controllers [7], [8]. Even though, several efforts have been deployed to close the loop [9]- [11], to the best of our knowledge, few technological issues, particularly regarding communication delays and sensors noises, still inhibit car manufacturers to adopt a closed loop architecture. Whether the control system is in an open-loop or in a closed one, we have noticed that prioritization strategy is still adopted to coordinate several systems in an over-actuated passenger cars.…”

Section: Introductionmentioning

confidence: 99%

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Optimal Yaw Rate Control for Over-Actuated Vehicles

Kissai¹,

Monsuez²,

Mouton³

et al. 2020

SAE Technical Paper Series

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As we are heading towards autonomous vehicles, additional driver assistance systems are being added. The vehicle motion is automated step by step to ensure passengers' safety and comfort, while still preserving vehicle performance. However, simultaneous activations of concurrent systems may conflict, and non-suitable behavior may emerge. Our research work consists in proving that with the right coordination approach, simultaneous operation of different systems improve the vehicle's performance and avoid the emergence of unwanted conflicts. To prove this, we gathered different control architectures implemented in commercial passenger cars, and we compared them with our control architecture using a unified reference vehicle model. The high-fidelity vehicle model is developed in Simcenter Amesim in a modular and extensible manner. This enables adding systems in a plug-and-play way. Not only different control architectures can be tested on the same vehicle, but also different systems combinations can be evaluated. In this research, the vehicle can steer at the front and at the rear, and each wheel can be braked independently. Each of the actuators concerned can influence the vehicle's yaw rate leading in some cases in system conflicts. More complex control strategies are then implemented in Matlab/Simulink, and co-simulations are carried between both softwares in order to provide realistic results. It has been shown that optimal control allocation algorithms are more suitable to coordinate systems in an over-actuated vehicle. Moreover, if the optimization objectives are well formalized, performance, safety and comfort can be improved since the vehicle can benefit from the systems' synergies.

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“…The pneumatic system moves then a piston to move both rear wheels ( Figure 4). The validation of the model is detailed in [9].…”

Section: The 4ws Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Optimal Yaw Rate Control for Over-Actuated Vehicles

Kissai¹,

Monsuez²,

Mouton³

et al. 2020

SAE Technical Paper Series

Self Cite

View full text Add to dashboard Cite

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“…For these reasons, we recommend a Gain-Scheduled H ∞ . A guideline on how to synthesize a Gain-Scheduled H ∞ as a high-level controller for vehicle motion control is detailed in [11]. Since this goes beyond the scope of this paper, and because this method can be actually adopted for both a downstream and an upstream approach, no further development is provided.…”

Section: Control Synthesismentioning

confidence: 99%

“…Since the longitudinal speed can be controlled, a MIMO high-level controller should be adopted, hence the use of Gain-Scheduled H ∞ that can be used in both SISO or MIMO control. The design of this controller in this case can be found in [11]. The low-level controllers should always be updated when changing the actuators.…”

Section: Case Of Ars-vdc-tv Coordinationmentioning

confidence: 99%

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Extensible Control Architecture for Over-Actuated Vehicles

Kissai¹,

Mouton²,

Monsuez³

et al. 2019

2019 19th International Conference on Control, Automation and Systems (ICCAS)

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Most of today's passenger cars are over-actuated. This over-actuation is expected to grow going towards self-driving cars. However, the necessary systems that would be needed for a safe and a comfortable autonomous driving remain uncertain. This paper aims to provide an extensible control architecture that does not depend on a particular system combination. Car manufacturers tend to develop ad hoc rule-based strategies for a specific set of integrated systems. Through several realistic scenarios, we have shown that the control architecture proposed in this paper can be adopted for different set of integrated systems. A minimal effort is required from the control designer when changing the nature of the systems integrated to adapt the control strategy. The control architecture proposed in this paper can serve as a starting point for the standardization of control architectures for future vehicles motion control.

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Adaptive Robust Vehicle Motion Control for Future Over-Actuated Vehicles

et al. 2019

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Many challenges still need to be overcome in the context of autonomous vehicles. These vehicles would be over-actuated and are expected to perform coupled maneuvers. In this paper, we first discuss the development of a global coupled vehicle model, and then we outline the control strategy that we believe should be applied in the context of over-actuated vehicles. A gain-scheduled H ∞ controller and an optimization-based Control Allocation algorithms are proposed. High-fidelity co-simulation results show the efficiency of the proposed control logic and the new possibilities that could offer. We expect that both car manufacturers and equipment suppliers would join forces to develop and standardize the proposed control architecture for future passenger cars.

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Gain-Scheduled H∞ for Vehicle High-Level Motion Control

Cited by 3 publications

References 19 publications

Optimal Yaw Rate Control for Over-Actuated Vehicles

Optimal Yaw Rate Control for Over-Actuated Vehicles

Extensible Control Architecture for Over-Actuated Vehicles

Adaptive Robust Vehicle Motion Control for Future Over-Actuated Vehicles

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