An $mbox{LPV}/mathcal{H}_infty$ Integrated Vehicle Dynamic Controller

This paper proposes a new multivariable linear parameter varying $(mbox{LPV})/mathcal{H}_infty$ control strategy for global chassis control. The main objective is to handle critical driving situations by activating several subsystems (semi-active suspensions, active steering, and electromechanical braking actuators) in a hierarchical way. The main idea is to schedule the three control actions (braking, steering, and suspension) according to the driving situation evaluated by a specific monitor. Indeed, on one hand, rear braking and front steering are used to enhance the vehicle yaw stability and lateral dynamics, and on the other hand, the semi-active suspensions are used to improve comfort and car handling performance. Due to the $mbox{LPV}/mathcal{H}_infty$ framework, this new approach allows a smooth coordination to be reached between the various actuators, to ensure robustness and stability of the proposed solution, and to significantly improve the vehicle dynamical behavior. Simulations have been performed on a complex full vehicle model, which has been validated using data obtained from experimental tests on a real Renault Mégane Coupé. Moreover, the suspension system uses magnetorheological dampers whose characteristics have been obtained through experimental identification tests. A comparison between the proposed $mbox{LPV}/mathcal{H}_infty$ control strategy and a classical linear time-invariant/ $mathcal{H}_infty$ controller is performed using the same simulation scenarios and confirms the effectiveness of this approach.

• Record URL:
  • https://doi.org/10.1109/TVT.2015.2425299
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/00189545
• Supplemental Notes:
  • Abstract reprinted with permission of IEEE.
• Authors:
  • Fergani, Soheib
  • Sename, Olivier
  • Dugard, Luc
• Publication Date: 2016-4

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 1880-1889
• Serial:
  • IEEE Transactions on Vehicular Technology
  • Volume: 65
  • Issue Number: 4
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 0018-9545
  • Serial URL: http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=25

Subject/Index Terms

• TRT Terms: Active suspension systems; Automated vehicle control; Braking; Motor vehicle dynamics; Steering
• Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01597997
• Record Type: Publication
• Files: TRIS
• Created Date: Apr 28 2016 2:46PM