Robust Tracking Control for Vehicle Lateral Dynamics with Uncertain Parameters and External Nonlinearities
This paper focuses on the problem of tracking control for vehicle lateral dynamic systems and designs an adaptive robust controller (ARC) based on backstepping technology to improve vehicle handling and stability, in the presence of parameter uncertainties and external nonlinearities. The main targe...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2014-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2014/324018 |
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| _version_ | 1832564584783806464 |
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| author | Huihui Pan Yifu Zhang Weichao Sun |
| author_facet | Huihui Pan Yifu Zhang Weichao Sun |
| author_sort | Huihui Pan |
| collection | DOAJ |
| description | This paper focuses on the problem of tracking control for vehicle lateral dynamic systems and designs an adaptive robust controller (ARC) based on backstepping technology to improve vehicle handling and stability, in the presence of parameter uncertainties and external nonlinearities. The main target of controller design has two aspects: the first target is to control the sideslip angle as small as possible, and the second one is to keep the real yaw rate tracking the desired yaw rate. In order to compromise the two indexes, the desired sideslip angle is planned as a new reference signal, instead of the ideal “zero.” As a result, the designed controller not only accomplishes the control purposes mentioned above, but also effectively attenuates both the changes of vehicle mass and the variations of cornering stiffness. In addition, to overcome the problem of “explosion of complexity” caused by backstepping method in the traditional ARC design, the dynamic surface control (DSC) technique is
used to estimate the derivative of the virtual control. Finally, a nonlinear vehicle model is employed as the design example to illustrate the effectiveness of the proposed control laws. |
| format | Article |
| id | doaj-art-fe3739d6b34b4b02a73cca223afee83d |
| institution | Kabale University |
| issn | 1070-9622 1875-9203 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Shock and Vibration |
| spelling | doaj-art-fe3739d6b34b4b02a73cca223afee83d2025-02-03T01:10:42ZengWileyShock and Vibration1070-96221875-92032014-01-01201410.1155/2014/324018324018Robust Tracking Control for Vehicle Lateral Dynamics with Uncertain Parameters and External NonlinearitiesHuihui Pan0Yifu Zhang1Weichao Sun2The State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin 150001, ChinaThe State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin 150001, ChinaThe State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin 150001, ChinaThis paper focuses on the problem of tracking control for vehicle lateral dynamic systems and designs an adaptive robust controller (ARC) based on backstepping technology to improve vehicle handling and stability, in the presence of parameter uncertainties and external nonlinearities. The main target of controller design has two aspects: the first target is to control the sideslip angle as small as possible, and the second one is to keep the real yaw rate tracking the desired yaw rate. In order to compromise the two indexes, the desired sideslip angle is planned as a new reference signal, instead of the ideal “zero.” As a result, the designed controller not only accomplishes the control purposes mentioned above, but also effectively attenuates both the changes of vehicle mass and the variations of cornering stiffness. In addition, to overcome the problem of “explosion of complexity” caused by backstepping method in the traditional ARC design, the dynamic surface control (DSC) technique is used to estimate the derivative of the virtual control. Finally, a nonlinear vehicle model is employed as the design example to illustrate the effectiveness of the proposed control laws.http://dx.doi.org/10.1155/2014/324018 |
| spellingShingle | Huihui Pan Yifu Zhang Weichao Sun Robust Tracking Control for Vehicle Lateral Dynamics with Uncertain Parameters and External Nonlinearities Shock and Vibration |
| title | Robust Tracking Control for Vehicle Lateral Dynamics with Uncertain Parameters and External Nonlinearities |
| title_full | Robust Tracking Control for Vehicle Lateral Dynamics with Uncertain Parameters and External Nonlinearities |
| title_fullStr | Robust Tracking Control for Vehicle Lateral Dynamics with Uncertain Parameters and External Nonlinearities |
| title_full_unstemmed | Robust Tracking Control for Vehicle Lateral Dynamics with Uncertain Parameters and External Nonlinearities |
| title_short | Robust Tracking Control for Vehicle Lateral Dynamics with Uncertain Parameters and External Nonlinearities |
| title_sort | robust tracking control for vehicle lateral dynamics with uncertain parameters and external nonlinearities |
| url | http://dx.doi.org/10.1155/2014/324018 |
| work_keys_str_mv | AT huihuipan robusttrackingcontrolforvehiclelateraldynamicswithuncertainparametersandexternalnonlinearities AT yifuzhang robusttrackingcontrolforvehiclelateraldynamicswithuncertainparametersandexternalnonlinearities AT weichaosun robusttrackingcontrolforvehiclelateraldynamicswithuncertainparametersandexternalnonlinearities |