{"title":"在参数变化情况下,利用超扭转算法对地面车辆进行主动控制","authors":"L. Etienne, S. Gennaro, J. Barbot","doi":"10.1109/ICOSC.2013.6750997","DOIUrl":null,"url":null,"abstract":"In this paper, we consider a vehicle equipped with active front steer and rear torque vectoring. While the former adds an incremental steer angle to the driver's input, the latter imposes a torque by means of the rear axle. The active front steer control is actuated through the front tires, while the rear torque vectoring can be actuated through the rear tires. A nonlinear controller using the super-twisting algorithm is designed in order to track in finite time lateral and yaw angular velocity references. We consider one estimation method, given in the literature, to estimate the tire-road coefficient, and we design a dynamic controller to estimate the perturbing terms due to the vehicle's mass and inertia variations, and due to the variation of the tire parameters. Comparisons with a simple PI-based controller are done, and some simulation results highlight the advantages of the proposed controller.","PeriodicalId":199135,"journal":{"name":"3rd International Conference on Systems and Control","volume":"47 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Active ground vehicle control with use of a super-twisting algorithm in the presence of parameter variations\",\"authors\":\"L. Etienne, S. Gennaro, J. Barbot\",\"doi\":\"10.1109/ICOSC.2013.6750997\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we consider a vehicle equipped with active front steer and rear torque vectoring. While the former adds an incremental steer angle to the driver's input, the latter imposes a torque by means of the rear axle. The active front steer control is actuated through the front tires, while the rear torque vectoring can be actuated through the rear tires. A nonlinear controller using the super-twisting algorithm is designed in order to track in finite time lateral and yaw angular velocity references. We consider one estimation method, given in the literature, to estimate the tire-road coefficient, and we design a dynamic controller to estimate the perturbing terms due to the vehicle's mass and inertia variations, and due to the variation of the tire parameters. Comparisons with a simple PI-based controller are done, and some simulation results highlight the advantages of the proposed controller.\",\"PeriodicalId\":199135,\"journal\":{\"name\":\"3rd International Conference on Systems and Control\",\"volume\":\"47 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-10-29\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"3rd International Conference on Systems and Control\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICOSC.2013.6750997\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"3rd International Conference on Systems and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICOSC.2013.6750997","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Active ground vehicle control with use of a super-twisting algorithm in the presence of parameter variations
In this paper, we consider a vehicle equipped with active front steer and rear torque vectoring. While the former adds an incremental steer angle to the driver's input, the latter imposes a torque by means of the rear axle. The active front steer control is actuated through the front tires, while the rear torque vectoring can be actuated through the rear tires. A nonlinear controller using the super-twisting algorithm is designed in order to track in finite time lateral and yaw angular velocity references. We consider one estimation method, given in the literature, to estimate the tire-road coefficient, and we design a dynamic controller to estimate the perturbing terms due to the vehicle's mass and inertia variations, and due to the variation of the tire parameters. Comparisons with a simple PI-based controller are done, and some simulation results highlight the advantages of the proposed controller.