文章基本信息

标题：Robust Roll-Over Avoidance Control for a Laboratory Vehicle
本地全文：下载
作者：Arie Shraiber ; Per-Olof Gutman ; Tal Shima 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：25
页码：316-321
DOI：10.1016/j.ifacol.2018.11.126
语种：English
出版社：Elsevier
摘要：AbstractA Multiple Input Multiple Output (MIMO) robust roll-over avoidance control algorithm that prevents a laboratory vehicle from rolling over due to disturbances and extreme driving maneuvers is presented. The control signals are an auxiliary steering angle and an auxiliary vehicle velocity reference which are added to the steering angle and vehicle velocity reference commanded by the driver or the driving algorithm. The robust linear control law is designed by Quantitative Feedback Theory (QFT), utilizing an uncertain linear MIMO vehicle model identified from a measurement based non-linear vehicle model. The algorithm is tested in simulations and then on the actual laboratory vehicle with satisfactory performance.
关键词：KeywordsQFTRobust ControlRoll-OverMIMODynamics