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LPV Model Based Robust Gain Scheduling Control of Vehicle Stability
Technical Paper
2008-01-2598
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
In this paper, considering the influence of longitudinal velocity on vehicle dynamics, an LPV (Linear Parameter Varying) model about longitudinal velocity is developed for the design of stability controller. A polytopic error dynamic model is developed and the weights for each vertex are selected. A robust gain scheduling control (RGSC) scheme based on an LPV model by controlling of the yaw moment is proposed to enhance vehicle stability especially in severe conditions. Some nonlinear numerical simulations are carried out on an 8-DOF nonlinear vehicle model for a J-turn manoeuvre and a lane-change manoeuvre respectively. The results demonstrate that considerable improvement in vehicle stability can be obtained by the RGSC controlled vehicle in a large range of longitudinal velocity compared with the conventional H∞ dynamic output-feedback controller and the uncontrolled vehicle.
Authors
Citation
Yang, X., Wang, Z., and Peng, W., "LPV Model Based Robust Gain Scheduling Control of Vehicle Stability," SAE Technical Paper 2008-01-2598, 2008, https://doi.org/10.4271/2008-01-2598.Also In
Advancements in Steering Systems, Braking Systems, and Advanced Chassis Control and Rollover Stability
Number: SP-2216; Published: 2008-10-07
Number: SP-2216; Published: 2008-10-07
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