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Nonlinear Adaptive Controller Applied to an Antilock Braking System with Parameters Variations
Cuauhtémoc Acosta Lúa,Stefano Di Gennaro,María Eugenia Sánchez Morales 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.5
The control of an Antilock Braking System is a difficult problem, due to its nonlinear dynamics and tothe uncertainties in its characteristics and parameters. To overcome these issues, in this work an adaptive controlleris proposed. The controller is designed under the assumption that the friction coefficient is unknown, and furtherperturbing frictions act on the system. Finally, the convergence to an e -ball of the origin is proved when these perturbingparameters vary. The performance of the nonlinear dynamic controllers is evaluated by some experimentaltests on a mechatronic system representing a quarter-car model. The results show how the controller ensures thetracking of the desired reference and identifies the unknown parameters.
Vehicle Reference Generator for Collision-free Paths
Tarek Kabbani,Cuauhtemoc Acosta Lúa,Stefano Di Gennaro 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.1
This paper presents a reference generator for ground vehicles. The generated trajectories avoid collisionswith obstacles, and can be used for vehicle autonomous driving or for active control of manned vehicles. Thisgenerator integrates artificial forces of potential fields of the object surrounding the vehicle. The potential fields areadapted to the vehicular environment on a road. The reference generator is used with a dynamic controller to ensurethe tracking of the accident-free reference. The performance of the proposed generator-based controller is tested ona simulated road scenario.
Lucien Etienne,Cuauhtémoc Acosta Lúa,Stefano Di Gennaro,Jean-Pierre Barbot 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.5
In this paper, a ground vehicle equipped with Active Front Steering (AFS) and Rear Torque Vectoring (RTV) is considered. The AFS, actuated through the front tires, adds an incremental steer angle on top of the driver’s input, whereas the RTV, actuated through the rear tires, imposes a yaw torque to the vehicle. These actuators allow the active control of the vehicle chassis, so that a feasible and safe reference trajectory can be tracked. To obtain such a feasible reference generation and an efficient control action, the lateral tire-road friction coefficient has to be estimated. To this aim, in this paper the lateral tire-road friction coefficient is estimated in finite-time by means of a high-order sliding mode differentiator. Then, based on this estimation, a high-order sliding mode controller is designed to track the desired references. The performance of the dynamic controller is evaluated using a CarSim virtual vehicle, and the simulation results highlight the characteristics of the proposed observer-based control.
Nonlinear Observer-based Active Control of Ground Vehicles with Non Negligible Roll Dynamics
Riccardo Cespi,Cuauhtemoc Acosta Lua,Bernardino Castillo-Toledo,Stefano Di Gennaro 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.3
In this paper we present an observer–based nonlinear controller for lateral and yaw velocity, for a vehiclein which the roll dynamics can not be neglected. The observer estimates the lateral velocity, and the roll positionand velocity. This technique is based on measurements of the longitudinal and lateral accelerations, longitudinalvelocity, yaw rate and steer angle, usually available in modern vehicles. The nonlinear observer ensures exponentialconvergence of the estimations. The test maneuvers, obtained with the full–vehicle CarSim model under differentroad adhesion conditions, have been used to check the controller performance, as well as its robustness with respectto parameter variations.