Tracking controller design of a sideslip angle and yaw rate for electrical vehicle bicycle model

被引：11

作者：

Frendi, S. ^{[1
]}

Mellah, R. ^{[1
]}

Seddiki, L. ^{[2
]}

Akdag, H. ^{[2
]}

机构：

[1] Univ Mouloud Mammeri Tizi Ouzou, L2CSP, Tizi Ouzou, Algeria

[2] Univ Paris 08, LIASD, 2 Rue Liberte, F-93520 St Denis 02, France

来源：

IFAC PAPERSONLINE | 2016年 / 49卷 / 05期

关键词：

Electric Vehicle; fuzzy TS multi-models; LPV system; H-infinity criterion; tracking trajectory; PDC control; LMI formalism; SYSTEMS;

D O I：

10.1016/j.ifacol.2016.07.108

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To improve road safety, this paper proposes a fuzzy control strategy of the rear steering angle and yaw moment of an Electric Vehicle (EV). A H-infinity control structure based on the Takagi-Sugeno (TS) multi-models is proposed to track the desired trajectories and to attenuate external disturbances. First, a bicycle model is introduced with a reference model that are used to construct the augmented system. Next, fuzzy TS multi-models are used to represent the Linear Parameters Varying (LPV) system. Then, based on these models a Parallel Distributed Compensation (PDC) control law is designed. Finally, the stability analysis is treated as a convex optimization problem formulated in Linear Matrix Inequality (LMI) formalism. Finally, the simulation results of the proposed control strategy illustrate the efficiency of the proposed approach. (C) 2016, IFAC (International Federation of Antomatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：169 / 174

页数：6

共 20 条

[1]

[Anonymous], 2006, TYRE VEHICLE DYNAMIC

[2] A CONVEX CHARACTERIZATION OF GAIN-SCHEDULED H-INFINITY CONTROLLERS [J].

APKARIAN, P ;

GAHINET, P .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1995, 40 (05) :853-864

[3] SELF-SCHEDULED H-INFINITY CONTROL OF LINEAR PARAMETER-VARYING SYSTEMS - A DESIGN EXAMPLE [J].

APKARIAN, P ;

GAHINET, P ;

BECKER, G .

AUTOMATICA, 1995, 31 (09) :1251-1261

[4]

Boyd S., 1994, SIAM STUDIES APPL MA

[5] Velocity-dependent robust control for improving vehicle lateral dynamics [J].

Du, Haiping ;

Zhang, Nong ;

Naghdy, Fazel .

TRANSPORTATION RESEARCH PART C-EMERGING TECHNOLOGIES, 2011, 19 (03) :454-468

[6]

Duan G.-R., 2013, LMIs in control systems: analysis, design and applications

[7]

Gahinet P., 1995, LMI Control Toolbox

[8]

Gillespie T.D., 1992, FUNDAMENTAL VEHICLE

[9]

Jianyong W., 2007, P 26 CHIN CONTR C

[10]

Latrach C, 2013, IEEE INT C INTELL TR, P905, DOI 10.1109/ITSC.2013.6728347

← 1 2 →