$\small{H_{\infty}}$ Robust Yaw-Moment Control Based on Brake Switching for the Enhancement of Vehicle Performance and Stability

Title & Authors
$\small{H_{\infty}}$ Robust Yaw-Moment Control Based on Brake Switching for the Enhancement of Vehicle Performance and Stability
Ahn, Woo-Sung; Park, Jong-Hyeon;

Abstract
This paper proposes a new $\small{H_{\infty}}$ yaw moment control scheme using brake torque switching for improving vehicle performance and stability especially in high speed driving. In the scheme, one wheel is selected, depending on the vehicle states, at which a brake torque for control is applied. Steering angles are modeled as a disturbance to the system and the $\small{H_{\infty}}$ controller is designed to minimize the difference between the performance of the vehicle and that of the desired model. Its performance robustness as well as stability robustness to system parameter variations is assured through $\small{{\mu}}$-analysis. Various simulations with a nonlinear 8-DOF vehicle model show that proposed controller enhances the vehicle performance and stability under disturbances and parameter variations as well as under the normal driving condition.
Keywords
$\small{H_{\infty}}$ control;Yaw Moment Control;Yaw Rate;Side Slip Angle;$\small{{\mu}}$-Analysis;Switching Control Scheme;Vehicle Stability;
Language
Korean
Cited by
1.
외란 관측기를 이용한 견실한 차량 안정성 제어,한진오;이경수;강수준;이교일;

대한기계학회논문집A, 2002. vol.26. 12, pp.2519-2526
References
1.
Nagai M., Hirano Y. and Yamanaka S., 1996, 'Integrated Control Law of Active Rear Wheel Steering and Direct Yaw Moment Control,' Proceedings of AVEC, Vol. 1, pp. 451-469

2.
Abe M., Ohkubo N., and Kano Y., 1996, 'A Direct Yaw Moment Control for Improving Limt Performance of Vehicle Handling -Comparison and Cooperation with 4WS-,' Vehicle System Dynamics, Vol. 25, pp. 3-23

3.
Koibuchi K., Yamamoto M., Fukuda Y., and Inagaki S., 1996, 'Vehicle Stability Control in Limit Cornering by Active Brake,' SAE 960487

4.
Matsumoto S., Yamaguchi H., Inoue H., and Yasuno Y., 1992, 'Improvement of Vehicle Dynamics through Braking Force Distribution Control,' SAE 920645

5.
Alleyne A., 1996, 'A Comparison of Alternative Intervention Strategies for Unintended Roadway Departure (URD) Control,' Proceedings of AVEC, Vol. 1, pp. 485-506

6.
Van Zanten A., Erhardt R., and Pfaff G., 1995, 'VDC, the Vehicle Dynamics Control System of Bosch,' SAE 950759

7.
Dugoff H., Francher P. S., and Segel L., 1970, 'An Analysis of Tire Properties and Their Influence on the Vehicle Dynamic Performance,' SAE 700377

8.
Doyle J. C., Glover K., Khargonekar P. P., and Francis B. A., 1989, 'State-Space Solutions to $H_2$ and $H_{infty}$ Control Problems,' IEEE Trans. Automatic Control, Vol. 34, No. 8, pp. 831-847

9.
Balas G. and Packard A., 1996, 'The Structured Singular Value () Framework,' in Control Handbook (W. S. Levine, ed.), CRC Press

10.
Zhou K., Doyle J. C., and Glover K., 1996, Robust and Optimal Control, Prentice Hall

11.
Jang J. H. and Han C. S., 1997, 'The Sensitivity Analysis of Yaw Rate for a Front Wheel Steering Vehicle: In the Frequency Domain,' KSME Int. J, Vol. 11, No. 1, pp. 56-66