Advertisement

Design of Integrated Vehicle Chassis Control Based on LPV Methods

  • Zoltán Szabó
  • Péter GáspárEmail author
  • József Bokor
Chapter

Abstract

The aim of this chapter is to present a multilayer supervisory architecture for the design and development of reconfigurable and integrated control systems in road vehicles. The individual performance specifications are guaranteed by the local controllers, while the coordination of these components is provided by the supervisor in order to meet global performance specifications and avoid the interference and conflict between components. Monitoring components provide the supervisor with information needed to make decisions about the necessary interventions into the vehicle motion and guarantee the robust operation of the vehicle. In the proposed architecture, these decisions are propagated between the supervisor and the local components through a well-defined interface encoded as suitable monitoring signals. This interface uses the monitoring signals as additional scheduling variables of the individual linear parameter varying (LPV) controllers introduced to distinguish the performances that correspond to different operational modes. The advantage of this architecture is that local LPV controllers are designed independently provided that the monitoring signals are taken into consideration in the formalization of their performance specifications. Moreover, the operation of a local controller can be extended to reconfigurable and fault-tolerant functions. The operation of the control systems is demonstrated through various simulation vehicle maneuvers.

Keywords

Lateral Acceleration Local Controller Linear Parameter Vary Brake Force Schedule Variable 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Notes

Acknowledgments

The research was supported by the Hungarian National Office for Research and Technology through the project “Innovation of distributed driver assistance systems for a commercial vehicles platform” (TECH_08_2/2-2008-0088) which is gratefully acknowledged. This research work has been supported by Control Engineering Research Group, Hungarian Academy of Sciences at the Budapest University of Technology and Economics.

References

  1. 1.
    Bokor J, Balas G (2005) Linear parameter varying systems: a geometric theory and applications. In: 16th IFAC World Congress, PragueGoogle Scholar
  2. 2.
    Burgio G, Zegelaar P (2006) Integrated vehicle control using steering and brakes. Int J Contr 79:534–541MathSciNetzbMATHCrossRefGoogle Scholar
  3. 3.
    Gáspár P, Szabó Z, Bokor J (2007) Estimation of the friction coefficient for road vehicles. American Control Conference, New YorkGoogle Scholar
  4. 4.
    Gáspár P, Szabó Z, Bokor J (2008) An integrated vehicle control with actuator reconfiguration. IFAC World Congress, Seoul, KoreaGoogle Scholar
  5. 5.
    Gáspár P, Szászi I, Bokor J (2003) Active suspension design using the mixed μ synthesis. Vehicle Syst Dyn 40(4):193–228CrossRefGoogle Scholar
  6. 6.
    Gáspár P, Szászi I, Bokor J (2003) The design of a combined control structure to prevent the rollover of heavy vehicles. Eur J Contr 10(2):1–15Google Scholar
  7. 7.
    Gillespie T (1992) Fundamentals of vehicle dynamics. Society of Automotive Engineers Inc., WarrendaleGoogle Scholar
  8. 8.
    Gordon T, Howell M, Brandao F (2003) Integrated control methodologies for road vehicles. Vehicle Syst Dyn 40:157–190CrossRefGoogle Scholar
  9. 9.
    Gustafsson F (1997) Slip-based tire-road friction estimation. Automatica 33:1087–1099MathSciNetCrossRefGoogle Scholar
  10. 10.
    Langbort C, Chandra RS, D’Andrea R (2004) Distributed control design for systems interconnected over an arbitrary graph. IEEE Trans Automat Contr 49(9):1502–1519MathSciNetCrossRefGoogle Scholar
  11. 11.
    Niinomi T, Krogh B, Cury J (1995) Synthesis of supervisory controllers for hybrid systems based on approximating automata. In: Proceedings of the 34th IEEE Conference on Decision and Control, pp 1461–1466Google Scholar
  12. 12.
    Packard A, Balas G (1997) Theory and application of linear parameter varying control techniques. In: Proceedings of the American Control Conference, Albuquerque, New MexicoGoogle Scholar
  13. 13.
    Palkovics L, Fries A (2001) Intelligent electronic systems in commercial vehicles for enhanced traffic safety. Vehicle Syst Dyn 35:227–289CrossRefGoogle Scholar
  14. 14.
    Platzer A (2008) Differential dynamic logic for verifying parametric hybrid systems. J Autom Reasoning 41:143–189MathSciNetzbMATHCrossRefGoogle Scholar
  15. 15.
    Scherer CW (2001) LPV control and full block multipliers. Automatica 27(3):325–485MathSciNetGoogle Scholar
  16. 16.
    Song C, Uchanski M, Hedrick J (2002) Vehicle speed estimation using accelerometer and wheel speed measurements. In: Proceedings of the SAE Automotive Transportation Technology, ParisCrossRefGoogle Scholar
  17. 17.
    Staroswiecki M (2006) Robust fault tolerant linear quadratic control based on admissible model matching. In: 45th IEEE Conference on Decision and Control, pp 3506–3511Google Scholar
  18. 18.
    Stoustrup J (2009) Plug and play control: control technology towards new challenges. Eur J Contr 15(3):311–330MathSciNetCrossRefGoogle Scholar
  19. 19.
    Trachtler A (2004) Integrated vehicle dynamics control using active brake, steering and suspension systems. Int J Vehicle Des 36:1–12CrossRefGoogle Scholar
  20. 20.
    Wu F (2001) A generalized LPV system analysis and control synthesis framework. Int J Contr 74(7):745–759zbMATHCrossRefGoogle Scholar
  21. 21.
    Wu F, Yang X, Packard A, Becker G (1996) Induced L2 norm controller for LPV systems with bounded parameter variation rates. Int J Robust Nonlinear Contr 6:983–988MathSciNetzbMATHCrossRefGoogle Scholar
  22. 22.
    Xiao H, Chen W, Zhou H, Zu J (2011) Integrated control of active suspension system and electronic stability programme using hierarchical control strategy: theory and experiment. Vehicle Syst Dyn 49:381–397CrossRefGoogle Scholar
  23. 23.
    Yu F, Li D, Crolla D (2008) Integrated vehicle dynamics control: State-of-the art review. IEEE Vehicle Power and Propulsion Conference, Harbin, ChinaGoogle Scholar

Copyright information

© Springer Science+Business Media, LLC 2012

Authors and Affiliations

  • Zoltán Szabó
    • 1
  • Péter Gáspár
    • 1
    Email author
  • József Bokor
    • 1
  1. 1.Systems and Control Laboratory, Computer and Automation Research InstituteHungarian Academy of SciencesBudapestHungary

Personalised recommendations