A comparison between IMC and sliding mode approaches to vehicle yaw control

被引：2
|
作者：
Canale, M. [1 ]
Fagiano, L. [1 ]
Ferrara, A. [2 ]
Vecchio, C. [2 ]
机构：
[1] Politecn Torino, Dipartimento Automat & Informat, Corso Duca Abruzzi 24, I-10129 Turin, Italy
[2] Univ Pavia, Dipartimento Informat & Sistemist, I-27100 Pavia, Italy
来源：
2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2008年
关键词：
D O I：
10.1109/ACC.2008.4586499
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper the problem of vehicle yaw control using a rear active differential is investigated. Due to system uncertainties, time-varying road conditions, and the wide range of operating conditions, which are typical of the automotive context, a robust control technique is required to solve this problem. In this paper, two different robust control schemes, based on enhanced Internal Model Control and Second Order Sliding Mode control, respectively, are designed and their performances are compared in simulation. In order to improve the transient behaviour of the proposed control schemes a feedforward control contribution has been added giving rise to a two degree of freedom structure. Improvements on understeer characteristics and damping properties in impulsive manoeuvres are shown relying on simulations performed on an accurate 14 degree of freedom nonlinear model.
引用
收藏
页码：248 / +
页数：2
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