Vehicle dynamic stability improvements through gain-scheduled steering and braking control

• Published in: Vehicle system dynamics Vol. 49; no. 10; pp. 1597 - 1621
• Main Authors: Poussot-Vassal, C., Sename, O., Dugard, L., Savaresi, S. M.
• Format: Journal Article
• Language: English
• Published: Colchester Taylor & Francis 01.10.2011
• Subjects: Applied sciences; Automatic; braking control; control with saturation; Drives; Engineering Sciences; Exact sciences and technology; LMI; LPV design; Machine components; Mechanical engineering. Machine design; robust control; Shafts, couplings, clutches, brakes; Springs and dampers; steering control; vehicle dynamic stability; Motor car; Slip; Lateral stability; LPV design; vehicle dynamic stability; braking control; Vehicle dynamics; Modeling; Linear matrix inequality; Robustness; Yawing; Actuator; Electronic control; Vehicle stability; MIMO system; Braking; Vehicle driving; Saturation; LMI; Gain scheduling; steering control; Robust control; control with saturation; Time domain method; Dynamic stability; Non linear effect
• ISSN: 0042-3114; 1744-5159
• DOI: 10.1080/00423114.2010.527995

This paper is concerned with the synthesis of a robust gain-scheduled ℋ ∞ MIMO vehicle dynamic stability controller (VDSC) involving both steering and rear braking actuators. This VDSC aims at improving automotive vehicle yaw stability and lateral performances. The aim of this work is to provide a methodology to synthesise such a controller while taking into account the braking actuator limitations and use the steering actuator only if it is necessary. These objectives are treated in an original way by the synthesis of a parameter-dependent controller built in the LPV framework and by the solution of an LMI problem. The proposed solution is coupled with a local ABS strategy to guarantee slip stability and make the solution complete. Nonlinear time and frequency domain simulations on a complex full vehicle model (which has been validated on a real car), subject to critical driving situations, show the efficiency and robustness of the proposed solution.