A multi-rate ISM approach for robust vehicle stability control during cornering

被引：5

作者：

Regolin, E. ^{[1
]}

Zambelli, M. ^{[1
]}

Ferrara, A. ^{[1
]}

机构：

[1] Univ Pavia, Dip Ing Ind & Informaz, Via Ferrata 5, I-27100 Pavia, Italy

来源：

IFAC PAPERSONLINE | 2018年 / 51卷 / 09期

基金：

欧盟地平线“2020”;

关键词：

Automotive control; Integral Sliding Mode; MIMO Control; predictive control; steady state cornering; MODEL-PREDICTIVE CONTROL; INTEGRAL SLIDING MODE;

D O I：

10.1016/j.ifacol.2018.07.041

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 a Model Predictive Control (MPC) architecture is proposed to achieve a smooth and progressive stabilization of the vehicle in limit cornering conditions. Integral Sliding Mode (ISM) is effectively exploited, in a multi-rate structure, in order to enhance the robustness with respect to changes in the tire/road friction characteristic curve and modelling errors. These typically arise due to the linearizations and discretizations needed in the controllers implementation. The performance is verified in simulation using IPG-CarMaker, a high-fidelity vehicle dynamics simulation software. The results obtained evidence the effectiveness of the proposed approach, also compared to an LQR based architecture. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：249 / 254

页数：6

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