文章基本信息

标题：Decentralized Controllers for the Steering and Velocity in Vehicles
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作者：Diana Hernandez-Alcantara ; Luis Amezquita-Brooks ; Ruben Morales-Menendez 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：3708-3713
DOI：10.1016/j.ifacol.2017.08.566
语种：English
出版社：Elsevier
摘要：AbstractVehicle Control Systems(VCS) for the lateral (steering) and longitudinal (velocity) dynamics are normally used to improve the handling properties of a vehicle. However, when differentVCSoperate simultaneously in the vehicle, the global performance could be degraded because of the cross-coupling dynamics. In this article the design of decentralized controllers for the steering and velocity subsystems is presented. The resulting control scheme reduces the cross/coupling among the steering and longitudinal dynamics. These results were achieved by proposing a more complete vehicle model and analyzing the cross-coupling using a multivariable analysis and design framework known asIndividual Channel Analysis and Design(IChAD). These results can be extended for other coupled subsystems.
关键词：KeywordsVehicle dynamicscross-coupling dynamicsmultivariable systems