Time-Delay Control based on a Nonlinear Vehicle Lateral Dynamics
- Title
- Time-Delay Control based on a Nonlinear Vehicle Lateral Dynamics
- Authors
- HAN, SOOHEE; SOONWAN, CHO; BAEK, JAE MIN; LEE, HYOUNG WOONG; 김창현
- Date Issued
- 2017-12-18
- Publisher
- Asian Control Association
- Abstract
- Integrated vehicle dynamics control (IVDC) consists of active front steering (AFS) and direct yaw moment control (DYC) which controls both the sideslip angle and the yaw rate of a vehicle. Most controllers are based on a bicycle model which considers each of the lateral dynamics terms very simply, and linearizes many parts including the tire forces. This paper proposes a time-delay control (TDC), derived from a nonlinear four-wheel vehicle model. We reform the state equations and regards the tangent function of the steering angle as a control input. In this way, we can formulate the applicable state-space representation, and apply time-delay estimation (TDE) scheme to it. The proposed controller is computationally simple and estimates uncertainties precisely. The effectiveness of the proposed controller is verified compared with TDC based on a bicycle model through CarSim simulations. © 2017 IEEE.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/41386
- Article Type
- Conference
- Citation
- 2017 11th Asian Control Conference (ASCC), 2017-12-18
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