» Download Article

Authors
Gaspar, P.; Szabo, Z.; Bokor, J.; Poussot-Vassal, C.; Sename, O.; Dugard, L.

Identifier
10.3182/20070820-3-US-2918.00076

Index Terms
LPV modeling and control,performance specifications,uncertainty,safety operation,passenger comfort,automotive

Abstract
A control structure that integrates active suspensions and an active brake is proposed to improve the safety of vehicles. The design is based on an H∞ control synthesis extended to LPV systems and uses a parameter dependent Lyapunov function. In an emergency, such as an imminent rollover, the safety requirement overwrites the passenger comfort demand by tuning the performance weighting functions associated with the suspension systems. If the emergency persists active braking is applied to reduce the effects of the lateral load transfers and thus the rollover risk. The solution is facilitated by using the actual values of the so-called normalized lateral load transfer as a scheduling variable of the integrated control design. The applicability of the method is demonstrated through a complex simulation example containing vehicle maneuvers.

References

[1] Alleyne, A. and J.K. Hedrick (1995). Nonlinear
    adaptive control of active suspensions. IEEE
    Transactions on Control Systems Technology
    pp. 94-101.
[2] Apkarian, P. and P. Gahinet (1995). A convex
    characterization of gain-scheduled H∞ controllers.
     IEEE Transactions on Automatic
    Control.
[3] Balas, G., I. Fialho, L. Lee, V. Nalbantoglu,
    A. Packard, W. Tan, G. Wolodkin and F. Wu
    (1997). Theory and application of linear parameter
     varying control techniques. Proc. of
    the American Control Conference.
[4] Fialho, I.J. and G.J. Balas (2000). Design of non-linear
     controllers for active vehicle suspensions
     using parameter-varying control synthesis.
     Vehicle System Dynamics 33, 351-370.
[5] Gáspár, P. and J. Bokor (2005). Improving handling
     of vehicles with active suspension. International
     Journal of Vehicle Autonomous Systems
     3, 134-151.
[6] Gáspár, P., Z. Szabó and J. Bokor (2005). Brake
    control combined with prediction to prevent
    the rollover of heavy vehicles. Proc. of the
    IFAC World Congress, Praha.
[7] Gáspár, P., Z. Szabó and J. Bokor (2006). Side
    force coefficient estimation for the design of
    active brake control. American Control Conference,
     Minneapolis.
[8] Gordon, T., M. Howell and F. Brandao (2003).
    Integrated control methodologies for road vehicles.
     Vehicle System Dynamics 40, 157-190.
[9] Hedrick, J.K., J.C. Gerdes, D.B. Maciuca and
    D. Swaroop (1997). Brake system modelling,
    control and integrated brake/throttle switching.
     PATH Project Proposal, Berkeley, USA.
[10] Kim, H.J. and Y.P. Park (2004). Investigation of
     robust roll motion control considering varying
     speed and actuator dynamics. Mechatronics
     14, 35-54.
[11] Nagai, M., Y. Hirano and S. Yamanaka (1998).
     Integrated robust control of active rear wheel
     steering and direct yaw moment control. Vehicle
      System Dynamics 28, 416-421.
[12] Odenthal, D., T. Bünte and J. Ackermann (1999).
     Nonlinear steering and braking control for
     vehicle rollover avoidance. Proc. European
     Control Conference.
[13] Palkovics, L., A. Semsey and E. Gerum (1999).
     Roll-over prevention system for commercial
     vehicles. Vehicle System Dynamics 32, 285-
     297.
[14] Sampson, D.J.M. and D. Cebon (2003). Active
     roll control of single unit heavy road vehicles.
     Vehicle System Dynamics 40, 229-270.
[15] Shibahata, Y. (2005). Progress and future direction
      of chassis control technology. Annual Reviews
      in Control 29, 151-158.
[16] Trächtler, A. (2004). Integrated vehicle dynamics
      control using active brake, steering and
     suspension systems. International Journal of
     Vehicle Design 36, 1-12.
[17] Wu, F., X. H. Yang, A. Packard and G. Becker
     (1996). Induced l2-norm control for LPV
     systems with bounded parameter variation
     rates. International Journal of Nonlinear and
     Robust Control 6, 983-998.
[18] Zin, A., O. Sename, P. Gáspár, L. Dugard and
     Bokor (2006). An LPV/H∞ active suspension
      control for global chassis technology:
     Design and performance analysis. American
     Control Conference, Minneapolis.