Open AccessRepetitive control design for vehicle lateral dynamics with state‐delay
Author(s) -
Mohanapriya Saminathan,
Sakthivel Rathinasamy,
Almakhles Dhafer J.
Publication year - 2020
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2019.1194
Subject(s) - control theory (sociology) , controller (irrigation) , crosswind , linear matrix inequality , stability (learning theory) , repetitive control , computer science , engineering , control system , control engineering , control (management) , mathematics , mathematical optimization , artificial intelligence , electrical engineering , machine learning , agronomy , biology , aerospace engineering
In this work, the authors precisely concentrate on the subject of enhanced vehicle handling performance of the bicycle model with two‐degrees‐of‐freedom via improved‐equivalent‐input‐disturbance and repetitive control technique. To be specific, improved‐equivalent‐input‐disturbance estimator is inserted into the controller design for attenuating the effect of the crosswind in the considered vehicle system with state‐delay. A modified two‐dimensional repetitive control design is implemented for improving the accurate tracking performance of the considered model. In particular, by combining an improved‐equivalent‐input‐disturbance approach together with two‐dimensional modified repetitive control design, steering angles of front and rear wheels of the considered vehicle have been controlled in order to achieve the accurate tracking performance of the vehicle states. The criteria for the robust asymptotic stability on the basis of Lyapunov stability theory is developed by means of the sufficient conditions which are obtained in the form of linear‐matrix‐inequalities. Simultaneously, through these inequality conditions, the parameters of proposed improved‐equivalent‐input‐disturbance based repetitive control strategy are designed for improving the accurate tracking performance against the crosswind effect. Finally, simulation results are presented to show that the proposed control design is more effective when aperiodic disturbances occur.