Flatness-based vehicle steering control strategy with SDRE deedback gains tuned via a sensitivity approach

IEEE Transactions on Control Systems Technology

Volumn 15, Issue 3, 2007, Pages 554-565

  Villagra, Jorge ^a   d'Andrea Novel Brigitte B ^a   Mounier, Hugues ^b   Pengov, Marco ^c  

^a PSL RESEARCH UNIVERSITY   (France)

^b UNIVERSITÉ PARIS SACLAY   (France)

^c CENTRO RICERCHE FIAT   (Italy)

Author keywords

Chassis control; Flatness; Obstacle avoidance; Riccati equations; Sensitivity analysis; Vehicle dynamics

Indexed keywords

COLLISION AVOIDANCE; COMPUTER SIMULATION; CONTROL EQUIPMENT; FEEDBACK CONTROL; MATHEMATICAL MODELS; OPTIMAL CONTROL SYSTEMS; RICCATI EQUATIONS; SENSITIVITY ANALYSIS;

CHASSIS CONTROL; FLATNESS; OBSTACLE AVOIDANCE; VEHICLE DYNAMICS;

AUTOMOBILE STEERING EQUIPMENT;

EID: 34248569805     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2007.894651     Document Type: Article

References (35)

1. J. Ackermamm and T. Bünte, "Yaw disturbance attenuation by robust decoupling of car steering," Control Eng. Practice, vol. 5, no. 8, pp. 1131-1136, Aug. 1997.
2. R. W. Beard, "Improving the closed loop performance of nonlinear systems," Ph.D. dissertation, Elect., Comput., Syst. Eng. Dept., Rensselaer Polytechnic Inst., Troy, NY, 1995.
3. M. C. Biggs, Towards Global Optimization. Amsterdam, The Netherlands: North-Holland, 1975, pp. 411-428.
4. H. G. Bock and K.-J. Plitt, "A multiple shooting algorithm for direct solution of optimal control problems," in Proc. 9th 1FAC World Congress, 1984, pp. 242-247.
5. Y. Cao, "A formulation of nonlinear model predictive control using automatic differentiation," J. Process Control, vol. 15, pp. 851-858, 2005.
6. Y. Cao, S. Li, L. Petzold, and R. Serban, "Adjoint sensitivity analysis for differential-algebraic equations: The adjoint DAE system and its numerical solution," SIAM J. Sci. Comput., vol. 24, no. 3, pp. 1076-1089, 2003.
7. H. Chou, "Contribution au contl̂e global de châssis," Ph.D. dissertation, Centre de Robotique, Ecole des Mines de Paris, Paris, France, 2002.
8. H. Chou and B. d'Andréa Novel, "Global vehicle control using differential braking torques and active suspension forces," Veh. Syst. Dyn., vol. 43, no. 4, pp. 261-284, Apr. 2005.
9. J. R. Cloutier, "State-dependent riccati equation techniques: An overview," in Proc. Amer. Control Conf., 1997, pp. 932-937.
10. J. R. Cloutier and D. T. Stansbery, "The capabilities and art of state-dependent riccati equation-based design," in Proc. Amer. Control Conf., 2002, pp. 86-91.
11. B. d'Andréa Novel, Commands Non-Linéaire Des Robots. Paris, France: Hermès, 1988.
12. C. C. de Wit, B. Siciliano, and G. Bastin, Eds., Theory of Robot Control. New York: Springer, 1996.
13. E. Elbeheiry, Y. Zeyada, and M. Elaraby, "Capabilities of vehicles in emergencies using coordinated AFS and ARMC systems," Veh. Syst. Dyn. vol. 35, no. 3, pp. 195-215, Mar. 2001.
14. E. Erdem, "Analysis and real-time implementation of state-dependent Riccati equation controlled systems," Ph.D. dissertation, Dept. Mech. Ind. Eng., Univ. Illinois, Urbana-Champaign, 2001.
15. M. Fliess, J. Lévine, P. Martin, and P. Rouchon, "Flatness and defect of non-linear systems: Introductory theory and examples," Int. J. Control, vol. 61, no. 6, pp. 1327-1361, Sep. 1995.
16. S. Fuchshumer, K. Schlacher, and T. Rittenschober, "Nonlinear vehicle dynamics control - A flatness based approach," in Proc. 44th IEEE Conf. Dec. Control, Eur. Control Conf., 2005, pp. 6492-6497.
17. Y. Furukawa and M. Abe, "Advanced chassis control systems for vehicle handling and active safety," Veh. Syst. Dyn., vol. 28, no. 3, pp. 59-86, Mar. 1995.
18. C. Hargraves and S. Paris, "Direct trajectory optimization using nonlinear programming and collocation," J. Guid. Control, vol. 10, pp. 338-342, 1987.
19. S. Horiuchi, K. Okada, and S. Nohtomi, "Optimum steering and braking control strategies in obstacle avoiding maneuvers," in Proc. 7th Int. Symp. Adv. Veh. Control AVEC, 2004, pp. 619-624.
20. B. Jakubczyk and W. Respondek, "On linearization of control systems," Bull. Acad. Pol. Set., Ser. Sci. Math., vol. 28, pp. 517-522, 1980.
21. P. Martin, "A geometric sufficient conditions for flatness of systems with m inputs and m+1 states," in Proc. 32nd IEEE Conf. Dec. Control 1993, pp. 3431-3436.
22. J. E. Naranjo, C. Gonzalez, J. Reviejo, R. Garcia, and T. de Pedro, "Adaptive fuzzy control for inter-vehicle gap keeping," IEEE Trans. Intell. Transp. Syst., vol. 40, no. 3, pp. 132-142, Sep. 2003.
23. C. Nouillant, "Contribution au pilotage coopératif des sytèmes de laison au sol d'une automobile par commande hybride hierarchisée," Ph.D. dissertation, LAPS, Univ. Bordeaux I, Bordeaux, France, 2002.
24. E. Ono, S. Hosoc, H. D. Tuan, and S. Doi, "Robust stabilization of vehicle dynamics by active front wheel steering control," in Proc. 35th Conf. Dec. Control, 1996, pp. 1777-1782.
25. H. Pacejka and E. Baker, "The magic formula tyre model," 1st Int. Coll. Tyre Models for Veh. Syst. Anal., pp. 1-18, 1991.
26. M. M. Putko, P. A. Newmann, and A. Taylor, "Employing sensitivity derivatives to estimate uncertainty propagation in CFD," presented at the 9th Specialty Conf. Prob. Mech. Structural Reliab., Santa Fe, NM, 2004.
27. P. Rouchon, "Necessary condition and genericity of dynamic feedback linearization," J. Math. Syst. Estimation Control, vol. 4, pp. 1-14, 1994.
28. G. Saridis and G. Chung-Sing, "An approximation theory of optimal control for trainable manipulators," IEEE Trans. Syst., Man Cybern. vol. SMC-9, no. 3, pp. 152-159, May/Jun. 1979.
29. C. Serafin, "Driver preferences and usability of adjustable distance controls for an adaptive cruise control (ACE) system," Ford Motor Co. Syst. Technologies Inc., Dearborn, MI, 1996.
30. P. Shankar, "Control and robustness of nonlinear dynamics of flight vehicles," Ph.D. dissertation, Dept. Aerosp. Eng. Aviation, The Ohio State Univ., Columbus, 2004.
31. M. Shino and M. Nagai, "Yaw moment control of electric vehicle for improving handling and stability," JSAE Rev., no. 22, pp. 473-480, Mar. 2001.
32. A. T. van Zanten, R. Erhnardt, and G. Pfaff, VDC, the vehicles dynamics control system of Bosch SAE Int., Warrendale, PA, Tech. Rep. 950759, 1995.
33. A. van Zanten, Bosch ESP Systems: 5 Years of Experience SAE Int., Warrendale, PA, Tech. Rep. 2000-01-1633, 2000.
34. J. Villagra, B. d'Andréa Novel, H. Mounier, and M. Pengov, "Sensitivity based gains choice for a SDRE vehicle steering control strategy," in Proc. IFAC Workshop Control Appl. Optimiz., 2006, pp. 140-146.
35. J. Villagra and H. Mounier, "Obstacle-avoiding path planning for high velocity wheeled mobile robots," presented at the IFAC World Congr., Prague, Czech Republic, 2005.