Velocity-dependent robust control for improving vehicle lateral dynamics

Du, H; Zhang, N; Naghdy, F

Velocity-dependent robust control for improving vehicle lateral dynamics

Du, H

Zhang, N

Naghdy, F

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Publication Type:: Journal Article
Citation:: Transportation Research Part C: Emerging Technologies, 2011, 19 (3), pp. 454 - 468
Issue Date:: 2011-01-01

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Field	Value	Language
dc.contributor.author	Du, H https://orcid.org/0000-0002-3439-3821	en_US
dc.contributor.author	Zhang, N https://orcid.org/0000-0001-6408-0044	en_US
dc.contributor.author	Naghdy, F	en_US
dc.date.issued	2011-01-01	en_US
dc.identifier.citation	Transportation Research Part C: Emerging Technologies, 2011, 19 (3), pp. 454 - 468	en_US
dc.identifier.issn	0968-090X	en_US
dc.identifier.uri	http://hdl.handle.net/10453/15449
dc.description.abstract	In this paper, a yaw moment controller of which parameters are dependent on the vehicle forward velocity is designed for improving vehicle handling and stability. Robustness of the controller is enhanced with considering the parameter uncertainties arising from tyre cornering stiffness and the actuator saturation limitations resulting from some physical constraints and tyre-road conditions into the controller design process. The design of the controller is achieved by solving finite numbers of linear matrix inequalities (LMIs). Effectiveness of the designed controller is shown through numerical simulations performed on a nonlinear vehicle model. Improved performance on vehicle handling and stability can be observed from the sideslip angle and yaw rate responses under a J-turn manoeuvre with different vehicle forward velocities, road conditions, and actuator saturation limitations. © 2010 Elsevier Ltd.	en_US
dc.relation.ispartof	Transportation Research Part C: Emerging Technologies	en_US
dc.relation.isbasedon	10.1016/j.trc.2010.05.004	en_US
dc.subject.classification	Logistics & Transportation	en_US
dc.title	Velocity-dependent robust control for improving vehicle lateral dynamics	en_US
dc.type	Journal Article
utslib.citation.volume	3	en_US
utslib.citation.volume	19	en_US
utslib.for	0913 Mechanical Engineering	en_US
utslib.for	0902 Automotive Engineering	en_US
utslib.for	08 Information and Computing Sciences	en_US
utslib.for	09 Engineering	en_US
utslib.for	15 Commerce, Management, Tourism and Services	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access
pubs.issue	3	en_US
pubs.publication-status	Published	en_US
pubs.volume	19	en_US

Abstract:

In this paper, a yaw moment controller of which parameters are dependent on the vehicle forward velocity is designed for improving vehicle handling and stability. Robustness of the controller is enhanced with considering the parameter uncertainties arising from tyre cornering stiffness and the actuator saturation limitations resulting from some physical constraints and tyre-road conditions into the controller design process. The design of the controller is achieved by solving finite numbers of linear matrix inequalities (LMIs). Effectiveness of the designed controller is shown through numerical simulations performed on a nonlinear vehicle model. Improved performance on vehicle handling and stability can be observed from the sideslip angle and yaw rate responses under a J-turn manoeuvre with different vehicle forward velocities, road conditions, and actuator saturation limitations. © 2010 Elsevier Ltd.

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http://hdl.handle.net/10453/15449