An integrated control structure, which includes an active steering and an active brake system, is proposed for tracking the path of the vehicle. Besides tracking this control also guarantees the prevention of rollovers. The method is based on a linear parameter varying (LPV) model of yaw-roll dynamics. A parameter-dependent LPV controller based on the H-infinity method is designed. Since in this model the time-varying adhesion coefficient is unknown, an adaptive observer-based method is proposed for its estimation. Both the estimation and the control system are demonstrated through vehicle simulations.
Tracking control by integrated steering and braking systems using an observer-based estimation
Folgeregelung durch integrierte Steuerungs- und Bremssysteme mit Hilfe beobachter-basierter Schätzung
ECC, European Control Conference, 2007 ; 619-624
2007
6 Seiten, 6 Bilder, 24 Quellen
Aufsatz (Konferenz)
Datenträger
Englisch
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