Nonlinear controller design based on feedforward exact input-output linearization for active rear-wheel steering in passenger vehicles
Publikation: Beitrag in Buch/Konferenzbericht/Sammelband/Gutachten › Beitrag in Konferenzband › Beigetragen › Begutachtung
Beitragende
Abstract
This paper presents a design for a nonlinear rear-wheel steering (RWS) controller tailored to urban demands. The proposed yaw rate controller structure uses the method of input-output linearization (IOL). Instead of classical feedback linearization states are obtained from a controller design model excited by current requested control input. The linearized model is mainly driven by reference yaw jerk thus ensuring quick reactions. A proportional-derivative (PD) feedback control input is applied for stabilization. The input affine controller model covers unsteady-state tire behavior. Model validation has been performed using an experimental vehicle. A sports vehicle has been selected to set the reference trajectories. Control performance is demonstrated through a complex validated simulation model.
Details
Originalsprache | Englisch |
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Titel | 2016 European Control Conference (ECC) |
Erscheinungsort | Aalborg |
Herausgeber (Verlag) | IEEE Xplore |
Seiten | 963-970 |
Seitenumfang | 8 |
ISBN (elektronisch) | 978-1-5090-2590-9, 978-1-5090-2591-6 |
ISBN (Print) | 978-1-5090-2592-3 |
Publikationsstatus | Veröffentlicht - 1 Juli 2016 |
Peer-Review-Status | Ja |
Extern publiziert | Ja |
Publikationsreihe
Reihe | European Control Conference (ECC) |
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Konferenz
Titel | 2016 15th European Control Conference |
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Kurztitel | ECC 2016 |
Veranstaltungsnummer | 15 |
Dauer | 29 Juni - 1 Juli 2016 |
Webseite | |
Ort | Aalborg Congress & Culture Center |
Stadt | Aalborg |
Land | Dänemark |
Externe IDs
Scopus | 85015059996 |
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ORCID | /0000-0002-0679-0766/work/141544981 |
Schlagworte
Schlagwörter
- Vehicles, Tires, Axles, Wheels, Robustness, Steady-state, Mathematical model