대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제26권12호
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  • Pages.2519-2526
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  • 2002
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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Robust Vehicle Stability Control Using Disturbance Observer

  • 한진오 (공군사관학교 기계공학과) ;
  • 이경수 (한양대학교 기계공학부) ;
  • 강수준 (공군사관학교 기계공학과) ;
  • 이교일 (서울대학교 기계항공공학부)
  • 발행 : 2002.12.01
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초록

A disturbance observer-based vehicle stability controller is proposed in this paper. The lumped disturbance to the vehicle yaw rate dynamics caused by the uncertain factors such as uncertain tire forces and parameters is estimated by the disturbance observer, which is utilized by the robust controller to stabilize the lateral dynamics of the vehicle. The dynamics of the hydraulic actuator is incorporated in the vehicle stability controller design using the model reduction technique. Modular control design methodology is adopted to effectively deal with the mismatched uncertainty. Simulation results indicate that the proposed disturbance observer-based vehicle stability controller can achieve the desired reference tracking performance as well as sufficient level of robustness.

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참고문헌

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