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Research Papers

A Passivity Based Decentralized Control Design Methodology With Application to Vehicle Dynamics Control

[+] Author and Article Information
Carlos Villegas

Wavebob Ltd, H3 Maynooth Business Campus, Maynooth, Co. Kildare, Irelandcarlos.villegas@nuim.ie

Martin Corless

School of Aeronautics and Astronautics, Purdue University, West Lafayette, IN 47907-2045corless@purdue.edu

Wynita Griggs

Hamilton Institute, National University of Ireland, Maynooth, Co. Kildare, Irelandwynita.griggs@nuim.ie

Robert Shorten

Hamilton Institute, National University of Ireland, Maynooth, Co. Kildare, Irelandrobert.shorten@nuim.ie

With this application, engineers can experience and evaluate vehicle behaviour prior to building an expensive proof-of-concept prototype.

Unlike production vehicles where a mathematical model is used to fit experimental data a virtual vehicle is a mathematical model describing the motions of a concept vehicle with no physical counterpart. In both cases, these mathematical models are referred to as reference models.

The vertical force at each tyre affect the tyre stiffness. This is referred to as load sensitivity and its effect should be considered for accelerations above 0.4g [26].

J. Dyn. Sys., Meas., Control 134(1), 011014 (Dec 05, 2011) (14 pages) doi:10.1115/1.4004572 History: Revised January 28, 2010; Received July 15, 2010; Accepted February 15, 2011; Published December 05, 2011; Online December 05, 2011

A basic problem in the design of control systems is the lack of simple effective methods for designing decentralized control systems that are robust with respect to certain types of structural uncertainties. Here, we present one such design methodology that is based upon the Kalman–Yakubovich–Popov Lemma. Advantages of this approach include the ease with which output feedback controllers can be designed, and the fact that the design methodology and uncertainties are expressed using classical frequency domain notions. We use our design technique to obtain an integrated chassis controller for application to automotive dynamics.

Copyright © 2012 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Systems under consideration

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Figure 2

(a) Controller structure and (b) the plant G̃

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Figure 3

Graphical representation of Eq. 22

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Figure 4

Single-track model with roll

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Figure 5

Single-track model

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Figure 7

Vehicle emulation using 2-block decentralized control. The vehicle plant Gcar is stabilized using an inner feedback loop kff and a decentralized controller to track the reference lateral velocity vy ref , yaw-rate ψ·ref and roll angle ϕref .

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Figure 8

Emulation results for a light commercial vehicle at 120 km/h: Output tracking

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Figure 9

Emulation results for a light commercial vehicle at 120 km/h: Inputs

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Figure 10

Emulation results for a small city car at 120 km/h: Output tracking

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Figure 11

Emulation results for a small city car at 120 km/h: Inputs

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Figure 12

Road trajectory for large vehicle with a driver. The x-axis represents the X coordinate of motion and the y-axis the Y coordinate of motion as a function of time.

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Figure 13

Steering wheel angle for large vehicle with a driver

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Figure 14

Emulation results for a large vehicle with driver at 80 km/h: Output tracking

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Figure 15

Emulation results for a large vehicle with driver at 80 km/h: Inputs

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Figure 16

A nominal feedback-loop, [P0 , K]

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