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Global Chassis Control Using Coordinated Control of Braking/Steering Actuators

  • Chapter
Robust Control and Linear Parameter Varying Approaches

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 437))

Abstract

Automotive light vehicles are complex systems involving many different dynamics. On one side, vertical, roll and pitch behaviours are often related to comfort performances (indeed, roll is also linked to safety characteristics [23]). On the other hand, safety performances are mainly characterized by the longitudinal, lateral and yaw dynamics [38, 14]. In practice, these two behaviours are often treated in a decoupled may (the first dynamics are often related to suspensions systems while the second one to steering and braking systems). This chapter focuses on the safety problem, and more specifically, on lateral and yaw dynamics. It presents two close techniques to design robust gain-scheduled \(\mathcal{H}_\infty\) MIMO VDSC (Vehicle Dynamic Stability Controller), involving both steering and rear braking actuators. Both approaches aim at restoring the yaw rate of the vehicle as close as possible to the nominal motion expected by the driver. The specific framework of each of that approaches is given below.

  • First, a methodology allowing to synthesize such a controller while taking into account the braking actuator limitations and involving the steering actuator only if it is necessary, is presented. The proposed solution is coupled with a local ABS strategy to guarantee slip stability and make the solution complete. The originality relies on the LPV formulation of the saturation-like function of the allowable braking force directly during the synthesis step.

  • Secondly, the control design methodology aims at using the steering action to control the yaw rate and at limiting the use of the braking actuator only when the vehicle goes toward instability. Judging the vehicle stability region is done from the phase-plane of the side-slip angle and its time derivative, which is used to monitor the car dynamical behaviour.

These controllers are both treated in an original way by the synthesis of a parameter dependent controller built in the LPV framework and by the solution of an LMI problem. Nonlinear time and frequency domain simulations, performed on a complex full vehicle model (which has been validated on a real car), subject to critical driving situations, show the efficiency and robustness of the proposed solutions.

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Author information

Authors and Affiliations

  1. The French Aerospace Lab, Onera, F-31055, Toulouse, France

    Charles Poussot-Vassal

  2. GIPSA-Lab, Control Systems Dept, CNRS-Grenoble INP, ENSE3, BP 46, F-38402, St Martin d’Hères cedex, France

    Olivier Sename, Soheib Fergani & Luc Dugard

  3. Department of Electrical Engineering, Fahad Bin Sultan University, Tabuk, Kingdom of Saudi Arabia

    Moustapha Doumiati

Authors
  1. Charles Poussot-Vassal
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  2. Olivier Sename
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  3. Soheib Fergani
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  4. Moustapha Doumiati
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  5. Luc Dugard
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Corresponding author

Correspondence to Charles Poussot-Vassal .

Editor information

Editors and Affiliations

  1. Systems (Dpt Automatique), UMR CNRS 5216, GIPSA-lab, Department of Control, Rue de la Houille Blanche 11, Saint Martin d'Heres Cedex, 38 402, France

    Olivier Sename

  2. , Computer & Automation Research Institute, Hungarian Academy of Sciences, Kende u. 13-17, Budapest, 1111, Hungary

    Peter Gaspar

  3. , Computer & Automation Research Institute, Hungarian Academy of Sciences, Kende u. 13-17, Budapest, 1111, Hungary

    József Bokor

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Poussot-Vassal, C., Sename, O., Fergani, S., Doumiati, M., Dugard, L. (2013). Global Chassis Control Using Coordinated Control of Braking/Steering Actuators. In: Sename, O., Gaspar, P., Bokor, J. (eds) Robust Control and Linear Parameter Varying Approaches. Lecture Notes in Control and Information Sciences, vol 437. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36110-4_9

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  • DOI: https://doi.org/10.1007/978-3-642-36110-4_9

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-36109-8

  • Online ISBN: 978-3-642-36110-4

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