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Author Menhour, L. ♦ Lechner, D. ♦ Charara, A.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2009
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Robust control ♦ Testing ♦ Open loop systems ♦ Three-term control ♦ Switches ♦ Equations ♦ Vehicle dynamics ♦ Velocity control ♦ Bicycles ♦ Delay effects
Abstract In this article we study a two-level driver model composed of one anticipatory and one compensatory control. The anticipatory control, executed in an open loop, is based mainly on the standard linear equations for the lateral dynamics of the vehicle. The compensatory control, executed in a closed loop, uses N PID controllers for the correction of lateral deviation, and other N PID controllers for the correction of the yaw angle of the vehicle. However, each pair of PID controllers is synthesized on a linear bicycle model (or around an operating point represented by a value of the longitudinal velocity) using the Ziegler-Nichols oscillation method. The different controllers are managed by a switch. We introduce a time delay in the N PID controllers to correct the lateral deviation. We conclude by validating and testing the robustness of the driver model in relation to two different vehicle models: a linear parameter-varying model and a nonlinear four-wheel model. Note that the experimental data used here were obtained from a Peugeot 307 laboratory vehicle developed by INRETS-MA.
Description Author affiliation: INRETS-MA Laboratory: Chemin de la croix blanche, 13300 SALON DE PROVENCE cedex, FRANCE (Menhour, L.; Lechner, D.) || Heudiasyc Laboratory, CNRS UMR 6599, Université de Technologie de Compiègne, 60205, FRANCE (Charara, A.)
ISBN 9781424446018
ISSN 10851992
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2009-07-08
Publisher Place Russia
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 0.99 MB
Page Count 6
Starting Page 125
Ending Page 130


Source: IEEE Xplore Digital Library