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Communication Dans Un Congrès Année : 2011

Vehicle yaw control via coordinated use of steering/braking systems

Résumé

The aim of this paper is to present a novel methodology that deals with steering/ braking coordination task for vehicle yaw control. For steerability enhancement, only active steering control is involved. However, when the vehicle reaches the handling limits, both steering and braking collaborate together to ensure vehicle stability. Judging the vehicle stability region is deduced from the phase-plane of the sideslip angle and its time derivative. The coordination of the steering/braking actuators is achieved through a suitable gain scheduled LPV (Linear Parameter Varying) controller. The controller is synthesized within the LMI (Linear Matrix Inequalities) framework, while warranting H∞ performances. The simulation results show the effectiveness of the proposed control scheme when the vehicle is subject to various driving situations.
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Dates et versions

hal-00681332 , version 1 (21-03-2012)

Identifiants

  • HAL Id : hal-00681332 , version 1

Citer

Moustapha Doumiati, Olivier Sename, John Jairo Martinez Molina, Luc Dugard, Peter Gaspar, et al.. Vehicle yaw control via coordinated use of steering/braking systems. IFAC WC 2011 - 18th IFAC World Congress, Aug 2011, Milan, Italy. pp.644-649. ⟨hal-00681332⟩
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