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Robust yaw stability controller design and hardware-in-the-loop testing for a road vehicle

Author(s)
Guvenc, Levent; Guvenc, Bilin Aksun; Karaman, Sertac
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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.

Alternative title
Institute of Electrical and Electronics Engineers
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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.
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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.
Date issued
2009-02
URI
http://hdl.handle.net/1721.1/52422
Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science; Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
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
ISSN
0018-9545
Keywords
yaw stability control, robust control, model regulator, hardware-in-the-loop simulation

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