A numerical algorithm for nonlinear L2-gain optimal control with application to vehicle yaw stability control

Milić, Vladimir and Di Cairano, Stefano and Kasać, Josip and Bemporad, Alberto and Šitum, Željko (2012) A numerical algorithm for nonlinear L2-gain optimal control with application to vehicle yaw stability control. = A numerical algorithm for nonlinear L2-gain optimal control with application to vehicle yaw stability control. In: 51st IEEE Conference on Decision and Control, CDC 2012, 10-13.12.2012., Maui, HI; United States.

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Šitum, Željko_Kasać_Milić_A numerical algorithm for nonlinear L2-gain optimal control with application to vehicle yaw stability control.pdf - Published Version Jezik dokumenta:English

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Official URL: https://doi.org/10.1109/CDC.2012.6426894

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 L 2-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.

Item Type: Conference or Workshop Item (Lecture)
Keywords (Croatian): active front steering; closed-loop; cornering force; differential braking; disturbance variables; input-affine; nonlinear L; numerical algorithms; optimal control problem; optimal controls; road friction; slip angle; vehicle dynamics; vehicle model; yaw stability; yaw stability controls; computer simulation; conjugate gradient method; control; mathematical models; optimal control systems; vehicles; algorithms
Subjects: TECHNICAL SCIENCE
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science: Yes
Indexed in Current Contents: Yes
Citations JCR: 0 (17.09.2018.)
Date Deposited: 30 Apr 2015 10:50
Last Modified: 13 Dec 2018 14:49
URI: http://repozitorij.fsb.hr/id/eprint/3891

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