A new methodology to design the vehicle GCC (global chassis control) nonlinear controller is developed in this paper. Firstly, to handle the nonlinear coupling between sprung and unsprung masses, the vehicle is treated as a mechanical system of two-rigid-bodies which has 6 DOF (degree of freedom), including longitudinal, lateral, yaw, vertical, roll and pitch dynamics. The system equation is built in the yaw frame based on Lagrange's method, and it has been proved that the derived system remains the important physical properties of the general mechanical system. Then the GCC design problem is formulated as the trajectory tracking problem for a cascade system, with a Lagrange's system interconnecting with a linear system. The nonlinear robust control design problem of this cascade interconnected system is divided into two Hinfin; control problems with respect to the two sub-systems. The parameter uncertainties in the system are tackled by adaptive theory, while the external uncertainties and disturbances are dealt with the Hinfin; control theory. And the passivity of the mechanical system is applied to construct the solution of nonlinear Hinfin;, control problem. Finally, the effectiveness of the proposed controller is validated by simulation results even during the emergency manoeuvre.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Nonlinear robust control of integrated vehicle dynamics


    Weitere Titelangaben:

    Nichtlineare robuste Regelung der integrierten Fahrzeugdynamik


    Beteiligte:
    He, Zhengyi (Autor:in) / Ji, Xuewu (Autor:in)

    Erschienen in:

    Vehicle System Dynamics ; 50 , 1-3 ; 247-280


    Erscheinungsdatum :

    2012


    Format / Umfang :

    34 Seiten, 38 Bilder, 1 Tabelle, 37 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    Nonlinear robust control of integrated vehicle dynamics

    He, Zhengyi / Ji, Xuewu | Taylor & Francis Verlag | 2012



    Nonlinear robust control of integrated vehicle dynamics

    He,Z. / Ji,X. / Tsinghua Univ.,CN | Kraftfahrwesen | 2012


    Integrated Vehicle Dynamics Control

    Chen, Wuwei / Xiao, Hansong / Wang, Qidong et al. | Wiley | 2016


    Integrated Vehicle Dynamics Control

    Chen, Wuwei / Xiao, Hansong / Wang, Qidong et al. | Wiley | 2016