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- Publisher Website: 10.1109/TCST.2021.3121395
- Scopus: eid_2-s2.0-85118604447
- WOS: WOS:000732156100001
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Article: Variable-Parameter-Dependent Saturated Robust Control for Vehicle Lateral Stability
Title | Variable-Parameter-Dependent Saturated Robust Control for Vehicle Lateral Stability |
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Authors | |
Keywords | Gain-scheduling control parameter-dependent Lyapunov function time-varying parameters variable-parameter-dependent control vehicle lateral stability |
Issue Date | 4-Jul-2022 |
Publisher | Institute of Electrical and Electronics Engineers |
Citation | IEEE Transactions on Control Systems Technology, 2022, v. 30, n. 4, p. 1711-1722 How to Cite? |
Abstract | This article proposes a novel gain-scheduling control method to improve vehicle lateral stability based on a variable-parameter-dependent approach. A time-varying velocity-dependent model to describe the vehicle lateral dynamic characteristics is constructed under cornering stiffness uncertainties and controller saturation. A novel Lyapunov function with variable-parameter-dependent Lyapunov matrix is established to develop the conditions. Using the proposed Lyapunov function, a general condition of the variable-parameter-dependent saturated robust yaw moment controller is provided in terms of time-varying parameter-dependent matrix inequalities. In order to obtain a tractable solution, a condition is further developed with finite linear matrix inequalities. Moreover, an optimal distribution method is adopted to generate the desired yaw moment based on torque allocation. These torques are computed by optimizing the distribution errors and tire workloads. Simulations results under both J-turn and double-lane changing scenarios are used to illustrate the merits of the proposed method. The control synthesis approach is also applicable to other applications involving time-varying parameters. |
Persistent Identifier | http://hdl.handle.net/10722/331982 |
ISSN | 2023 Impact Factor: 4.9 2023 SCImago Journal Rankings: 2.193 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Li, P | - |
dc.contributor.author | Lam, J | - |
dc.contributor.author | Lu, R | - |
dc.contributor.author | Li, H | - |
dc.date.accessioned | 2023-09-28T05:00:02Z | - |
dc.date.available | 2023-09-28T05:00:02Z | - |
dc.date.issued | 2022-07-04 | - |
dc.identifier.citation | IEEE Transactions on Control Systems Technology, 2022, v. 30, n. 4, p. 1711-1722 | - |
dc.identifier.issn | 1063-6536 | - |
dc.identifier.uri | http://hdl.handle.net/10722/331982 | - |
dc.description.abstract | <p></p><p>This article proposes a novel gain-scheduling control method to improve vehicle lateral stability based on a variable-parameter-dependent approach. A time-varying velocity-dependent model to describe the vehicle lateral dynamic characteristics is constructed under cornering stiffness uncertainties and controller saturation. A novel Lyapunov function with variable-parameter-dependent Lyapunov matrix is established to develop the conditions. Using the proposed Lyapunov function, a general condition of the variable-parameter-dependent saturated robust yaw moment controller is provided in terms of time-varying parameter-dependent matrix inequalities. In order to obtain a tractable solution, a condition is further developed with finite linear matrix inequalities. Moreover, an optimal distribution method is adopted to generate the desired yaw moment based on torque allocation. These torques are computed by optimizing the distribution errors and tire workloads. Simulations results under both J-turn and double-lane changing scenarios are used to illustrate the merits of the proposed method. The control synthesis approach is also applicable to other applications involving time-varying parameters.<br></p> | - |
dc.language | eng | - |
dc.publisher | Institute of Electrical and Electronics Engineers | - |
dc.relation.ispartof | IEEE Transactions on Control Systems Technology | - |
dc.subject | Gain-scheduling control | - |
dc.subject | parameter-dependent Lyapunov function | - |
dc.subject | time-varying parameters | - |
dc.subject | variable-parameter-dependent control | - |
dc.subject | vehicle lateral stability | - |
dc.title | Variable-Parameter-Dependent Saturated Robust Control for Vehicle Lateral Stability | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/TCST.2021.3121395 | - |
dc.identifier.scopus | eid_2-s2.0-85118604447 | - |
dc.identifier.volume | 30 | - |
dc.identifier.issue | 4 | - |
dc.identifier.spage | 1711 | - |
dc.identifier.epage | 1722 | - |
dc.identifier.eissn | 1558-0865 | - |
dc.identifier.isi | WOS:000732156100001 | - |
dc.identifier.issnl | 1063-6536 | - |