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A New Approach for Vehicle Lateral Velocity and Yaw Rate Control with Uncertainty
Author(s) -
Sun Hao,
Zhao Han,
Huang Kang,
Zhen Shengchao
Publication year - 2018
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1531
Subject(s) - yaw , control theory (sociology) , bounded function , inertia , uniform boundedness , matlab , tracking error , stability (learning theory) , adaptive control , computer science , control (management) , engineering , mathematics , automotive engineering , artificial intelligence , mathematical analysis , physics , classical mechanics , machine learning , operating system
In order to attain excellent stability and maneuverability to ensure safety and ride‐comfort, the lateral velocity and yaw rate of a vehicle are expected to be controlled at any desired values simultaneously. A basic manipulation model of a vehicle with two degrees of freedom which requires two independent control inputs (front and rear steering angle) is constructed. In this model, we consider the mass and the moment of inertia of the vehicle are the uncertain parameters which are (possibly) fast‐varying. However, no further information, except that the uncertainties are bounded, is assumed. Furthermore, the bound is unknown. An adaptive robust control methodology based on the Udwadia and Kalaba approach which guarantees uniform boundedness and uniform ultimate boundedness is proposed to drive the system to follow the pre‐specified constraints approximately. The adaptive law is of leakage type which can adjust itself based on the tracking error. The numerical simulation results conducted by MATLAB demonstrate the ease and effectiveness of implementation.