Robust Tracking Control for Vehicle Lateral Dynamics with Uncertain Parameters and External Nonlinearities
Joint Authors
Zhang, Yifu
Pan, Huihui
Sun, Weichao
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-03-05
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This paper focuses on the problem of tracking control for vehicle lateral dynamic systems and designs an adaptive robust controller (ARC) based on backstepping technology to improve vehicle handling and stability, in the presence of parameter uncertainties and external nonlinearities.
The main target of controller design has two aspects: the first target is to control the sideslip angle as small as possible, and the second one is to keep the real yaw rate tracking the desired yaw rate.
In order to compromise the two indexes, the desired sideslip angle is planned as a new reference signal, instead of the ideal “zero.” As a result, the designed controller not only accomplishes the control purposes mentioned above, but also effectively attenuates both the changes of vehicle mass and the variations of cornering stiffness.
In addition, to overcome the problem of “explosion of complexity” caused by backstepping method in the traditional ARC design, the dynamic surface control (DSC) technique isused to estimate the derivative of the virtual control.
Finally, a nonlinear vehicle model is employed as the design example to illustrate the effectiveness of the proposed control laws.
American Psychological Association (APA)
Pan, Huihui& Zhang, Yifu& Sun, Weichao. 2014. Robust Tracking Control for Vehicle Lateral Dynamics with Uncertain Parameters and External Nonlinearities. Shock and Vibration،Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-1047897
Modern Language Association (MLA)
Pan, Huihui…[et al.]. Robust Tracking Control for Vehicle Lateral Dynamics with Uncertain Parameters and External Nonlinearities. Shock and Vibration No. 2014 (2014), pp.1-12.
https://search.emarefa.net/detail/BIM-1047897
American Medical Association (AMA)
Pan, Huihui& Zhang, Yifu& Sun, Weichao. Robust Tracking Control for Vehicle Lateral Dynamics with Uncertain Parameters and External Nonlinearities. Shock and Vibration. 2014. Vol. 2014, no. 2014, pp.1-12.
https://search.emarefa.net/detail/BIM-1047897
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1047897