Integrated vehicle control using steering and brakes

Authors: Burgio, G.; Zegelaar, P.

Source: International Journal of Control, Volume 79, Number 5, May 2006 , pp. 534-541(8)

Buy & download fulltext article:

Price: $56.94 plus tax (Refund Policy)

Abstract:

The integration of brakes and steering actuators in vehicle lateral dynamics control is of primary relevance due to the high control authority these actuators insure. Moreover this is a challenging control problem as it is MIMO, intrinsically non-linear due to tyres characteristic and with high plant uncertainty due to variations of major parameters. This paper presents the application of state feedback linearization technique to the problem and shows some vehicle test results. The controller results globally stable, smooth and effective with the steering actuator and uses the braking correction only in critical cases.

Document Type: Research article

DOI: http://dx.doi.org/10.1080/00207170500488970

Affiliations: 1: Ford Motor Company/Research & Advanced Engineering, Aachen, Germany

Publication date: 2006-05-01

More about this publication?