Robust Yaw Control Design with Active Differential and Active Roll Control Systems
| Authors: | Gerhard Johannes, RWTH Aachen University, Germany
Laiou Maria-Christina, RWTH Aachen University, Germany
Mönnigmann Martin, RWTH Aachen University, Germany
Marquardt Wolfgang, RWTH Aachen University, Germany
Lakehal-Ayat Mohsen, Ford Motor Company, Germany
Aneke Edo, Ford Motor Company, Germany
Busch Rainer, Ford Motor Company, Germany |
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| Topic: | 7.1 Automotive Control |
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| Session: | Vehicle Dynamics Control II |
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| Keywords: | Nonlinear dynamics, optimization, bifurcations, vehicle dynamics,yaw control, controlled differentials, active roll control |
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Abstract
A simple robust yaw controller for the nonlinear single-trackmodel is designed, making use of active differential and activeroll control systems. Robustness is studied for uncertainties inseveral model parameters, namely the vehicle longitudinalvelocity, the road adherence coefficients and the hand wheelangle. Constructive nonlinear dynamics are employed for thecontroller design. The controller parameters are selected bysolving an optimization problem. Stability of the solution isguaranteed by constraints that ensure a minimal distance betweenthe nominal operating point and a stability boundary in the spaceof uncertain parameters.
