Gain-scheduling robust control for a tire-blow-out road vehicle
This paper presents a robust control approach to keeping directional and driving stability for a road vehicle after a tire blow-out. Considering the time-varying vehicle velocity as well as the uncertain tire characteristics, a linear parameter varying vehicle model is built. With front wheel steeri...
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| Veröffentlicht in: | Proceedings of the Institution of Mechanical Engineers. Part D, Journal of automobile engineering Journal of automobile engineering, 2019-02, Vol.233 (2), p.344-362 |
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| container_title | Proceedings of the Institution of Mechanical Engineers. Part D, Journal of automobile engineering |
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| creator | Jing, Houhua Liu, Zhiyuan |
| description | This paper presents a robust control approach to keeping directional and driving stability for a road vehicle after a tire blow-out. Considering the time-varying vehicle velocity as well as the uncertain tire characteristics, a linear parameter varying vehicle model is built. With front wheel steering angle and yaw control moment as control inputs, a gain-scheduling H∞ controller is developed to attenuate the effects of a flat tire. An optimal control allocation law is presented to perform the yaw control moment by differential braking on the other three tires. Finally, a hardware-in-the-loop testing system, composed of the veDYNA high-fidelity software program and an actual automotive hydraulic braking system, is utilized for controller validation. The results clearly demonstrate the effectiveness of the proposed coordinated controller in improving vehicle directional stability and robustness against the disturbances caused by a tire blow-out. |
| doi_str_mv | 10.1177/0954407017743411 |
| format | Article |
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Considering the time-varying vehicle velocity as well as the uncertain tire characteristics, a linear parameter varying vehicle model is built. With front wheel steering angle and yaw control moment as control inputs, a gain-scheduling H∞ controller is developed to attenuate the effects of a flat tire. An optimal control allocation law is presented to perform the yaw control moment by differential braking on the other three tires. Finally, a hardware-in-the-loop testing system, composed of the veDYNA high-fidelity software program and an actual automotive hydraulic braking system, is utilized for controller validation. The results clearly demonstrate the effectiveness of the proposed coordinated controller in improving vehicle directional stability and robustness against the disturbances caused by a tire blow-out.</description><identifier>ISSN: 0954-4070</identifier><identifier>EISSN: 2041-2991</identifier><identifier>DOI: 10.1177/0954407017743411</identifier><language>eng</language><publisher>London, England: SAGE Publications</publisher><subject>Automotive parts ; Braking ; Braking systems ; Control stability ; Directional stability ; Driving ; Gain scheduling ; H-infinity control ; Optimal control ; Parameter uncertainty ; Robust control ; Software ; Steering ; Yaw</subject><ispartof>Proceedings of the Institution of Mechanical Engineers. 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Part D, Journal of automobile engineering</title><description>This paper presents a robust control approach to keeping directional and driving stability for a road vehicle after a tire blow-out. Considering the time-varying vehicle velocity as well as the uncertain tire characteristics, a linear parameter varying vehicle model is built. With front wheel steering angle and yaw control moment as control inputs, a gain-scheduling H∞ controller is developed to attenuate the effects of a flat tire. An optimal control allocation law is presented to perform the yaw control moment by differential braking on the other three tires. Finally, a hardware-in-the-loop testing system, composed of the veDYNA high-fidelity software program and an actual automotive hydraulic braking system, is utilized for controller validation. The results clearly demonstrate the effectiveness of the proposed coordinated controller in improving vehicle directional stability and robustness against the disturbances caused by a tire blow-out.</description><subject>Automotive parts</subject><subject>Braking</subject><subject>Braking systems</subject><subject>Control stability</subject><subject>Directional stability</subject><subject>Driving</subject><subject>Gain scheduling</subject><subject>H-infinity control</subject><subject>Optimal control</subject><subject>Parameter uncertainty</subject><subject>Robust control</subject><subject>Software</subject><subject>Steering</subject><subject>Yaw</subject><issn>0954-4070</issn><issn>2041-2991</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2019</creationdate><recordtype>article</recordtype><recordid>eNp1kM1LxDAQxYMoWFfvHgueo5k2Xz2JLLoKC170XNJ0stulNmuSKv73tqwgCM5lBt7vvYFHyCWwawClblglOGeKTTcvOcARyQrGgRZVBcckm2U666fkLMYdm0ZxkZHblekGGu0W27Hvhk0efDPGlFs_pOD73PmQmzx1AWnT-0_qxzQhps0_cNvZHs_JiTN9xIufvSCvD_cvy0e6fl49Le_W1JasStRo66QTSiooStSqKpWDUrdGKoHWaXDCWTAC5xNVayU63ghEbbUStigX5OqQuw_-fcSY6p0fwzC9rAtQrJBSg5wodqBs8DEGdPU-dG8mfNXA6rmm-m9Nk4UeLNFs8Df0X_4bY4hmyg</recordid><startdate>201902</startdate><enddate>201902</enddate><creator>Jing, Houhua</creator><creator>Liu, Zhiyuan</creator><general>SAGE Publications</general><general>SAGE PUBLICATIONS, INC</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7TB</scope><scope>8FD</scope><scope>F28</scope><scope>FR3</scope></search><sort><creationdate>201902</creationdate><title>Gain-scheduling robust control for a tire-blow-out road vehicle</title><author>Jing, Houhua ; Liu, Zhiyuan</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c309t-a8cf6f5767123e87937f138da675ecf81f5fc1a5ef81fe7dc6ef4b5ee8c875c23</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2019</creationdate><topic>Automotive parts</topic><topic>Braking</topic><topic>Braking systems</topic><topic>Control stability</topic><topic>Directional stability</topic><topic>Driving</topic><topic>Gain scheduling</topic><topic>H-infinity control</topic><topic>Optimal control</topic><topic>Parameter uncertainty</topic><topic>Robust control</topic><topic>Software</topic><topic>Steering</topic><topic>Yaw</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Jing, Houhua</creatorcontrib><creatorcontrib>Liu, Zhiyuan</creatorcontrib><collection>CrossRef</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><jtitle>Proceedings of the Institution of Mechanical Engineers. 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With front wheel steering angle and yaw control moment as control inputs, a gain-scheduling H∞ controller is developed to attenuate the effects of a flat tire. An optimal control allocation law is presented to perform the yaw control moment by differential braking on the other three tires. Finally, a hardware-in-the-loop testing system, composed of the veDYNA high-fidelity software program and an actual automotive hydraulic braking system, is utilized for controller validation. The results clearly demonstrate the effectiveness of the proposed coordinated controller in improving vehicle directional stability and robustness against the disturbances caused by a tire blow-out.</abstract><cop>London, England</cop><pub>SAGE Publications</pub><doi>10.1177/0954407017743411</doi><tpages>19</tpages></addata></record> |
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| ispartof | Proceedings of the Institution of Mechanical Engineers. Part D, Journal of automobile engineering, 2019-02, Vol.233 (2), p.344-362 |
| issn | 0954-4070 2041-2991 |
| language | eng |
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| source | SAGE Complete A-Z List |
| subjects | Automotive parts Braking Braking systems Control stability Directional stability Driving Gain scheduling H-infinity control Optimal control Parameter uncertainty Robust control Software Steering Yaw |
| title | Gain-scheduling robust control for a tire-blow-out road vehicle |
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