Staying within the nullcline boundary for vehicle envelope control using a sliding surface

被引：88

作者：

Bobier, Carrie G. ^{[1
]}

Gerdes, J. Christian ^{[1
]}

机构：

[1] Stanford Univ, Dept Mech Engn, Stanford, CA 94305 USA

来源：

VEHICLE SYSTEM DYNAMICS | 2013年 / 51卷 / 02期

关键词：

vehicle dynamics; vehicle control; stability; sliding surface control; envelope control; STABILITY; SLIP;

D O I：

10.1080/00423114.2012.720377

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Envelope control has been implemented successfully in aircraft for over a decade to assist pilots in stabilising their planes. With current advances in sideslip angle and friction coefficient estimation, envelope control can now be applied to the automotive industry as well. Using full state estimation of yaw rate and sideslip angle, stability controllers can assist the driver by keeping the vehicle within a safe region of the planar state space. This paper discusses the physical phenomena that must be taken into account when choosing an envelope and details a specific choice of envelope comprised of the yaw acceleration nullcline and the maximum rear slip angle limits. The vehicle is kept within the envelope using a computationally simple sliding surface control scheme. Experimental data show the success of the controller, which is implemented on a vehicle through the use of steer-by-wire.

引用

页码：199 / 217

页数：19

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