Investigation of robust roll motion control considering varying speed and actuator dynamics

Kim, Hyo-Jun; Park, Young−Pil

doi:10.1016/s0957-4158(02)00094-6

Cited by 40 publications

(38 citation statements)

References 11 publications

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“…In this problem, the GA is used to randomly generate an initial matrix i K which changes thereafter within the evolution procedure according to objective (5). If (5) is feasible for an evolved i K which has the maximum , then this i K satisfies the specifications and thus constitutes a solution to the design problem.…”

Section: Computational Algorithmmentioning

confidence: 99%

“…Step Step 2: Evaluate the fitness of each individual according to the objective in (5 K will be assigned a large value in order to reduce its opportunity to survive in the next generation.…”

Section: Computational Algorithmmentioning

confidence: 99%

“…Regarding the load variation, it was verified in [2] that the designed linear quadratic regulator (LQR) controller could guarantee the stability of the controlled vehicle in the presence of model uncertainties within some indicated bounds. Furthermore, the parameter variations are considered in [5] as model uncertainties, and robust H control theory is applied there to design the robust controller.…”

Section: Introductionmentioning

confidence: 99%

“…For a heavy vehicle model with time-variable vehicle forward velocity, a customary linear interpolation method is used in [3] to obtain the interpolated control law between the fixed speed controllers. A gain-scheduled controller and a linear parameter-varying (LPV) controller are developed in [5] and [6], respectively, to deal with the variations of vehicle dynamics assuming real-time measurement of varying forward speed is available. Regarding the load variation, it was verified in [2] that the designed linear quadratic regulator (LQR) controller could guarantee the stability of the controlled vehicle in the presence of model uncertainties within some indicated bounds.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Robust Active Roll Controller Design for Vehicles Considering Variable Speed and Actuator Delay

Zhang

Dong

2007

SAE Technical Paper Series

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A robust controller design method for vehicle roll control with variable speed and actuator delay is presented. Based on a three-degree-of-freedom (3DOF) yaw-roll model, the H performance from the steering input to the vehicle body roll angle is considered. The design approach is formulated in terms of the feasibility of delay-dependent matrix inequalities. By combining the random search of genetic algorithms (GAs) and the efficient solution of linear matrix inequalities (LMIs), the state feedback controllers can be obtained. The approach is validated by simulations showing that the designed controllers can achieve good performance in roll control.

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Section: Computational Algorithmmentioning

confidence: 99%

Section: Computational Algorithmmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robust Active Roll Controller Design for Vehicles Considering Variable Speed and Actuator Delay

Zhang

Dong

2007

SAE Technical Paper Series

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“…Several schemes concerned with the possible active intervention into vehicle dynamics have been proposed. These approaches employ active antiroll bars, active steering, active braking, active suspensions, or a combination of them, see (Ackermann and Odenthal, 1999;Chen and Peng, 2001;Kim and Park, 2004;Lin et al, 1996;Mammar and Koenig, 2002;Palkovics et al, 1999;Sampson and Cebon, 2003). A combined control structure, in which active anti-roll bars are combined with an active brake control, has also been developed in order to guarantee a fault-tolerant behavior of the controlled system, see (Gaspar et al, 2004;Gaspar et al, 2005).…”

Section: Introductionmentioning

confidence: 99%

Brake Control Combined With Prediction to Prevent the Rollover of Heavy Vehicles

Gáspár

Szabó

Bokor

2005

IFAC Proceedings Volumes

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In this paper an active brake control to decrease the rollover risk of heavy vehicles is proposed. The brake system is activated when the vehicle comes close to rolling over. To enhance the performance of the active brake, this mechanism is extended with a prediction procedure, in which the critical values are predicted in advance using a short time interval. In order to predict an imminent rollover, an observer-based prediction algorithm is proposed to estimate in advance the load transfers. The control design is based on the Linear Parameter Varying (LPV) Model of yaw-roll dynamics of heavy vehicles. In the control design both the performance demands and the model uncertainties are taken into consideration. The control mechanism is demonstrated in a double lane change maneuver. Copyright c 2005 IFAC

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Estimation of States and Parameters with Dual Extended Kalman Filters for Active Roll Control

Yim

Nah

Park

2020

Lecture Notes in Mechanical Engineering

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Investigation of robust roll motion control considering varying speed and actuator dynamics

Cited by 40 publications

References 11 publications

Robust Active Roll Controller Design for Vehicles Considering Variable Speed and Actuator Delay

Robust Active Roll Controller Design for Vehicles Considering Variable Speed and Actuator Delay

Brake Control Combined With Prediction to Prevent the Rollover of Heavy Vehicles

Estimation of States and Parameters with Dual Extended Kalman Filters for Active Roll Control

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