Robust yaw stability controller design and hardware-in-the-loop testing for a road vehicle
Name
Guvenc_Robust-Yaw-Stability.pdf
Size
2.77 MB
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Adobe PDF
Checksum (MD5)
a2061199dd07c7bccf14a5b7818e596d
Author(s)
Guvenc, Levent
Guvenc, Bilin Aksun
Karaman, Sertac
Alternative Title
Institute of Electrical and Electronics Engineers
Date Issued
February 2009
Journal
IEEE Transactions on Vehicular Technology
Citation
Guvenc, B.A., L. Guvenc, and S. Karaman. “Robust Yaw Stability Controller Design and Hardware-in-the-Loop Testing for a Road Vehicle.” Vehicular Technology, IEEE Transactions on 58.2 (2009): 555-571. © 2009 IEEE
Version
Final published version
Abstract
Unsymmetrical loading on a car like mu-split braking, side wind forces, or unilateral loss of tire pressure results in unexpected yaw disturbances that require yaw stabilization either by the driver or by an automatic driver-assist system. The use of two-degrees-of-freedom control architecture known as the model regulator is investigated here as a robust steering controller for such yaw stabilization tasks in a driver-assist system. The yaw stability-enhancing steering controller is designed in the parameter space to satisfy a frequency-domain mixed sensitivity constraint. To evaluate the resulting controller design, a real-time hardware-in-the-loop simulator is developed. Steering tests with and without the controller in this hardware-in-the-loop setup allow the driver to see the effect of the proposed controller to improve vehicle-handling quality. The hardware-in-the-loop simulation setup can also be used for real-time driver-in-the-loop simulation of other vehicle control systems.
Subjects
yaw stability control
robust control
model regulator
hardware-in-the-loop simulation
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
http://dx.doi.org/10.1109/TVT.2008.925312
