控制理论(社会学)
车辆动力学
偏航
工程类
计算
分段
非线性系统
仿射变换
牵引(地质)
牵引力控制系统
汽车操纵
理论(学习稳定性)
控制器(灌溉)
控制工程
计算机科学
数学
控制(管理)
汽车工程
算法
机械工程
数学分析
农学
物理
量子力学
人工智能
纯数学
生物
机器学习
作者
Giovanni Filippo Palmieri,Miroslav Barić,Luigi Glielmo,Francesco Borrelli
标识
DOI:10.1080/00423114.2012.666353
摘要
The paper presents the design of a lateral stability controller for ground vehicles based on front steering and four wheels independent braking. The control objective is to track yaw rate and lateral velocity reference signals while avoiding front and rear wheel traction force saturation. Control design is based on an approximate piecewise-affine nonlinear dynamical model of the vehicle. Vehicle longitudinal velocity and drivers steering input are modelled as measured disturbances taking values in a compact set. A time-optimal control strategy which ensures convergence into a maximal robust control invariant (RCI) set is proposed. This paper presents the uncertain model, the RCI computation, and the control algorithm. Experimental tests at high-speed on ice with aggressive driver manoeuvres show the effectiveness of the proposed scheme.
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