Paper Info
Title
A numerical algorithm for nonlinear L2-gain optimal control with application to vehicle yaw stability control
Abstract
This paper is concerned with L2-gain optimal control approach for coordinating the active front steering and differential braking to improve vehicle yaw stability and cornering control. The vehicle dynamics with respect to the tire slip angles is formulated and disturbances are added on the front and rear cornering forces characteristics modelling, for instance, variability on road friction. The mathematical model results in input-affine nonlinear system. A numerical algorithm based on conjugate gradient method to solve L2-gain optimal control problem is presented. The proposed algorithm, which has backward-in-time structure, directly finds the feedback control and the “worst case” disturbance variables. Simulations of the controller in closed-loop with the nonlinear vehicle model are shown and discussed.
Year
DOI
Venue
2012
10.1109/CDC.2012.6426894
Decision and Control
Keywords
DocType
ISSN
closed loop systems,conjugate gradient methods,feedback,nonlinear control systems,optimal control,road vehicles,stability,steering systems,tyres,vehicle dynamics,active front steering,backward-in-time structure,closed-loop controller,conjugate gradient method,cornering control,differential braking,feedback control,front cornering force characteristics modelling,input-affine nonlinear system,nonlinear L2-gain optimal control approach,nonlinear vehicle model,numerical algorithm,rear cornering force characteristics modelling,road friction,tire slip angles,vehicle dynamics,vehicle yaw stability control,worst case disturbance variables
Conference
0743-1546 E-ISBN : 978-1-4673-2064-1
ISBN
Citations 
PageRank 
978-1-4673-2064-1
0
0.34
References 
Authors
0
4
Name
Order
Citations
PageRank
Milic, V.102.03
S. Cairano224926.23
Kasac, J.351.31
Bemporad, A.400.68