文章基本信息

标题：A multi-rate ISM approach for robust vehicle stability control during cornering
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作者：E. Regolin ; M. Zambelli ; A. Ferrara 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：9
页码：249-254
DOI：10.1016/j.ifacol.2018.07.041
语种：English
出版社：Elsevier
摘要：AbstractIn this paper a Model Predictive Control (MPC) architecture is proposed to achieve a smooth and progressive stabilization of the vehicle in limit cornering conditions. Integral Sliding Mode (ISM) is effectively exploited, in a multi-rate structure, in order to enhance the robustness with respect to changes in the tire/road friction characteristic curve and modelling errors. These typically arise due to the linearizations and discretizations needed in the controllers implementation. The performance is verified in simulation using IPG-CarMaker, a high-fidelity vehicle dynamics simulation software. The results obtained evidence the effectiveness of the proposed approach, also compared to an LQR based architecture.
关键词：KeywordsAutomotive controlIntegral Sliding ModeMIMO Controlpredictive controlsteady state cornering