Design and experimental validation of linear and non linear vehicle steering control strategies
MENHOUR ; LECHNER ; CHARARA
Type de document
ARTICLE A COMITE DE LECTURE REPERTORIE DANS BDI (ACL)
Langue
anglais
Auteur
MENHOUR ; LECHNER ; CHARARA
Résumé / Abstract
This document proposes the design of three control laws dedicated to vehicle steering control, two based on robust linear control strategies and a non linear control, and presents a comparison between them. The two robust linear control laws (indirect and direct methods) are built around M linear bicycle models, each of these control law is composed from a two M PID controllers: M PID to control the lateral deviation and M another PID to control the vehicle yaw angle. The indirect control law method is designed using a oscillation method and a non linear optimization subject to H1 constraint. The direct control law method is designed with the LMI (Linear Matrix Inequalities) optimization, in order to achieve H1 performances. The non linear control for the correction of the lateral deviation is based on a continuous first order sliding mode controller. The different methods are designed using a linear bicycle vehicle model with variant parameters, but the aim is to simulate the non linear vehicle behavior under high dynamic demands with a four wheel vehicle model. These steering vehicle controls are validated experimentally using the data acquired by a laboratory vehicle Peugeot 307 developed by INRETS-MA and their performance results are compared. Moreover an unknown input sliding mode observer is introduced to estimate the road bank angle. Vehicle Dynamics; experimental validation; Steering control, switching control; LMI optimization; Sliding mode control; road bank angle estimation.
Source
Vehicle System Dynamics, num. 6, pp903-938 p.
Editeur
Taylor and Francis
