Robust Roll-Over Avoidance Control for a Laboratory Vehicle

被引：0

作者：

Shraiber, Arie ^{[1
]}

Gutman, Per-Olof ^{[1
]}

Shima, Tal ^{[2
]}

机构：

[1] Technion Israel Inst Technol, Fac Civil & Environm Engn, IL-3200003 Haifa, Israel

[2] Technion Israel Inst Technol, Fac Aerosp Engn, IL-3200003 Haifa, Israel

来源：

IFAC PAPERSONLINE | 2018年 / 51卷 / 25期

关键词：

QFT; Robust Control; Roll-Over; MIMO; Dynamics;

D O I：

10.1016/j.ifacol.2018.11.126

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A Multiple Input Multiple Output (MIMO) robust roll-over avoidance control algorithm that prevents a laboratory vehicle from rolling over due to disturbances and extreme driving maneuvers is presented. The control signals are an auxiliary steering angle and an auxiliary vehicle velocity reference which are added to the steering angle and vehicle velocity reference commanded by the driver or the driving algorithm. The robust linear control law is designed by Quantitative Feedback Theory (QFT), utilizing an uncertain linear MIMO vehicle model identified from a measurement based non-linear vehicle model. The algorithm is tested in simulations and then on the actual laboratory vehicle with satisfactory performance. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：316 / 321

页数：6

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