Upperbounds on the closed loop sensitivity for the control of a steer-by-wire vehicle

Tom van der Sande; Peter Zegelaar; Igo Besselink; Henk Nijmeijer

Upperbounds on the closed loop sensitivity for the control of a steer-by-wire vehicle

Tom van der Sande, Peter Zegelaar, Igo Besselink, Henk Nijmeijer

Dynamics and Control

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

Abstract

This paper proposes guidelines for controller design for steer-by-wire vehicles with the inclusion of non-linear tire behavior. For the nominal vehicle model, the velocity dependency of the yaw dynamics is removed. By using an H_∞ approach, bounds on the closed loop sensitivity are presented. From these bounds guidelines for the controller design are derived. Using a validated multi-body vehicle model, it is shown that the yaw dynamics are stabilized for an extreme manoeuvre.

Original language	English
Title of host publication	Advanced Vehicle Control AVEC’16 - Proceedings of the 13th International Symposium on Advanced Vehicle Control AVEC’16
Publisher	CRC Press/Balkema
Pages	405-410
Number of pages	6
ISBN (Print)	9781315265285
Publication status	Published - 1 Jan 2017
Event	13th International Symposium on Advanced Vehicle Control, AVEC 2016 - Munich University of Applied Sciences, Lothstraße 64, 80335 Munich, Munich, Germany Duration: 13 Sept 2016 → 16 Sept 2016 Conference number: 13 http://www.avec16.com/

Conference

Conference	13th International Symposium on Advanced Vehicle Control, AVEC 2016
Abbreviated title	AVEC'16
Country/Territory	Germany
City	Munich
Period	13/09/16 → 16/09/16
Internet address	http://www.avec16.com/

Cite this

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title = "Upperbounds on the closed loop sensitivity for the control of a steer-by-wire vehicle",

abstract = "This paper proposes guidelines for controller design for steer-by-wire vehicles with the inclusion of non-linear tire behavior. For the nominal vehicle model, the velocity dependency of the yaw dynamics is removed. By using an H∞ approach, bounds on the closed loop sensitivity are presented. From these bounds guidelines for the controller design are derived. Using a validated multi-body vehicle model, it is shown that the yaw dynamics are stabilized for an extreme manoeuvre.",

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publisher = "CRC Press/Balkema",

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van der Sande, T , Zegelaar, P , Besselink, I & Nijmeijer, H 2017, Upperbounds on the closed loop sensitivity for the control of a steer-by-wire vehicle. in Advanced Vehicle Control AVEC’16 - Proceedings of the 13th International Symposium on Advanced Vehicle Control AVEC’16. CRC Press/Balkema, pp. 405-410, 13th International Symposium on Advanced Vehicle Control, AVEC 2016, Munich, Germany, 13/09/16.

Upperbounds on the closed loop sensitivity for the control of a steer-by-wire vehicle. / van der Sande, Tom ; Zegelaar, Peter ; Besselink, Igo et al.
Advanced Vehicle Control AVEC’16 - Proceedings of the 13th International Symposium on Advanced Vehicle Control AVEC’16. CRC Press/Balkema, 2017. p. 405-410.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AB - This paper proposes guidelines for controller design for steer-by-wire vehicles with the inclusion of non-linear tire behavior. For the nominal vehicle model, the velocity dependency of the yaw dynamics is removed. By using an H∞ approach, bounds on the closed loop sensitivity are presented. From these bounds guidelines for the controller design are derived. Using a validated multi-body vehicle model, it is shown that the yaw dynamics are stabilized for an extreme manoeuvre.

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Upperbounds on the closed loop sensitivity for the control of a steer-by-wire vehicle

Abstract

Conference

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