Active Ground Vehicle Control with use of ...
Type de document :
Communication dans un congrès avec actes
Titre :
Active Ground Vehicle Control with use of a Super-Twisting Algorithm in the Presence of Parameter Variations
Auteur(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]
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]
Titre de la manifestation scientifique :
ICSC 2013 - 3rd International Conference on Systems and Control
Ville :
Alger
Pays :
Algérie
Date de début de la manifestation scientifique :
2013-10-29
Date de publication :
2013-10-31
Discipline(s) HAL :
Mathématiques [math]/Systèmes dynamiques [math.DS]
Résumé en anglais : [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. ...
Lire la suite >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.Lire moins >
Lire la suite >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.Lire moins >
Langue :
Anglais
Comité de lecture :
Oui
Audience :
Internationale
Vulgarisation :
Non
Projet Européen :
Collections :
Source :
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- Vehicle.alger.v10.pdf
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