Robust Yaw Control Design With Active Differential and Active Roll Control Systems

Gerhard, Johannes; Laiou, Maria-Christina; Mönnigmann, Martin; Marquardt, Wolfgang; Lakehal-Ayat, Mohsen; Aneke, Edo; Busch, Rainer

doi:10.3182/20050703-6-cz-1902.01900

Cited by 16 publications

(12 citation statements)

References 8 publications

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“…In [2] the authors present an integrated active front steering and a direct yaw moment control using a model matching controller in which a feed forward and a feedback controllers are present. In [3] a direct yaw moment control, based on an optimization approach in the presence of parametric uncertainty, is presented; a robustness analysis is shown with respect to the critical car parameters. The development of electro actuated differentials can allow new control strategies [4][5][6][7] in vehicle systems dynamics control.…”

Section: Introductionmentioning

confidence: 99%

“…Several solution were studied and introduced such as: Anti lock Braking System, Traction Control System, Electronic Stability Program, Active Steering, Active suspension, Limited Slip Differential and Active Differential. In [1][2][3] the yaw rate is controlled by a direct yaw moment control which can be generated by a differential braking action. In [1] a predictive controller compares the desired and the actual vehicle yaw rate and, if the error exceeds a certain threshold, a controlling yaw moment is calculated.…”

Section: Introductionmentioning

confidence: 99%

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A Nonlinear Semiactive Rear Differential Control in Rear Wheel Drive Vehicles

Marino

Scalzi

Cinili

2006

2007 Chinese Control Conference

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Many vehicle control systems are based on the yaw rate error to help the driver during oversteer and understeer conditions. The control systems usually operate on brake pressures distributions such as ESP and/or on active steering control (front and rear steering control). The main contribution of this paper is to show that vehicle dynamic performance can be improved by an electronically controlled semiactive rear differential which is based on yaw rate and rear wheel speed measurements. A nonlinear first order reference model for the yaw rate and for the rear wheels speed difference dynamics driven by the driver steering wheel input is employed. The controlled system shows new stable cornering manoeuvres and enlarged stability regions; moreover safety is increased in emergency conditions in which the driver does not react to a sudden external disturbance, since the regions of attraction are enlarged by feedback. The activation of the control law is based on Lyapunov techniques. Several simulations are carried out on a standard small SUV CarSim car model to confirm the analysis and to explore the robustness with respect to unmodelled dynamics such pitch, roll and nonlinear combined lateral and longitudinal tire forces according to combined slip theory.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Nonlinear Semiactive Rear Differential Control in Rear Wheel Drive Vehicles

Marino

Scalzi

Cinili

2006

2007 Chinese Control Conference

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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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“…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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Robust Yaw Control Design With Active Differential and Active Roll Control Systems

Cited by 16 publications

References 8 publications

A Nonlinear Semiactive Rear Differential Control in Rear Wheel Drive Vehicles

A Nonlinear Semiactive Rear Differential Control in Rear Wheel Drive Vehicles

A robust IMC approach for stability control of 4WS vehicles

Stability control of 4WS vehicles using robust IMC techniques

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