Title :

Active Ground Vehicle Control with use of a Super-Twisting Algorithm in the Presence of Parameter Variations

Author(s) :

Etienne, Lucien [Auteur]
Électronique et Commande des Systèmes Laboratoire [ECS-Lab]
Di Gennaro, Stefano [Auteur]
Barbot, Jean-Pierre [Auteur]
Électronique et Commande des Systèmes Laboratoire [ECS-Lab]
Non-Asymptotic estimation for online systems [NON-A]

Conference title :

ICSC 2013 - 3rd International Conference on Systems and Control

City :

Alger

Country :

Algérie

Start date of the conference :

2013-10-29

Publication date :

2013-10-31

HAL domain(s) :

Mathématiques [math]/Systèmes dynamiques [math.DS]

English abstract : [en]

In this paper, we consider a vehicle equipped with active front steer and rear torque vectoring. While the former adds an incremental steer angle to the driver's input, the latter imposes a torque by means of the rear axle. ...
Show more >In this paper, we consider a vehicle equipped with active front steer and rear torque vectoring. While the former adds an incremental steer angle to the driver's input, the latter imposes a torque by means of the rear axle. The active front steer control is actuated through the front tires, while the rear torque vectoring can be actuated through the rear tires. A nonlinear controller using the super-twisting algorithm is designed in order to track in finite time lateral and yaw angular velocity references. We consider one estimation method, given in the literature, to estimate the tire-road coefficient, and we design a dynamic controller to estimate the perturbing terms due to the vehicle's mass and inertia variations, and due to the variation of the tire parameters. Comparisons with a simple PI-based controller are done, and some simulation results highlight the advantages of the proposed controller.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

European Project :

Highly-complex and networked control systems

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL