Robust performance design for a car steering device

Malan, S.; Taragna, Michele; Borodani, P.; Gortan, L.

doi:10.1109/cdc.1994.411011

Cited by 15 publications

(6 citation statements)

References 6 publications

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“…Robustness of active vehicle systems is a widely studied topic, and interesting results have recently appeared using parametric and nonparametric approaches (see, e.g. [7][8][9][10][11]). Therefore, the designer of the control system has to take care of both robust stability and control saturation aspects.…”

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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Section: Introductionmentioning

confidence: 99%

Stability control of 4WS vehicles using robust IMC techniques

Canale

Fagiano

2008

Vehicle System Dynamics

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“…Robustness of active vehicle systems is a widely studied topic and interesting results have recently appeared in both parametric and non parametric contexts (see e.g. [7], [8], [9] and [10]). Therefore, the designer of the control system has to take care of both robust stability and control saturation aspects.…”

Section: Introductionmentioning

confidence: 99%

A robust IMC approach for stability control of 4WS vehicles

Canale

Fagiano

2007

2007 American Control Conference

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A robust non parametric approach to improve vehicle yaw rate dynamics by means of a rear active differential is introduced. An additive model set is used to describe the uncertainty arising from the wide range of the vehicle operating situations. The effects of saturation of the control variable (i.e. yaw moment) have been taken into account by adopting enhanced Internal Model Control methodologies in the design of the feedback controller. In order to improve the transient behavior a feedforward control contribution has been added giving rise to a two degree of freedom structure. Improvements on understeering characteristics, stability in demanding conditions such as µ−split braking and damping properties in impulsive manoeuvres are shown through simulation results performed on an accurate 14 degrees of freedom nonlinear model.

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“…These devices modify the vehicle dynamics imposing forces or moments to the vehicle body in different ways (see, e.g. Burgio [2006], Karbalaei [2007], Baslamisli [2007], Ackermann [1995], Malan [1994]), and can now make use of smart sensors (for example, the so-called intelligent tires, Ergen [2009]), allowing precise and distributed measurements from the environment, to increase the performance of the control action, the vehicle stability, and the safety and comfort of the driver. On top of that, hierarchical and hybrid structures guarantee increased performance and robustness of control strategies, taking into account the interactions among vehicle, driver and environment, considered in parallel in one core algorithm.…”

Section: Introductionmentioning

confidence: 99%