Robust control design for active driver assistance systems : a linear-parameter-varying approach

• Other Authors: Gáspár, Péter
• Format: Electronic eBook
• Language: English
• Published: Cham, Switzerland : Springer, 2016, ©2017.
• Series: Advances in industrial control.
• Subjects: Robust control.; Linear control systems.; elektronické knihy; electronic books
• ISBN: 9783319461267; 9783319461243
• Physical Description: 1 online resource

This monograph focuses on control methods that influence vehicle dynamics to assist the driver in enhancing passenger comfort, road holding, efficiency and safety of transport, etc., while maintaining the driver's ability to override that assistance. On individual-vehicle-component level the co...

Table of Contents:

• Series Editors' Foreword; Contents; Abbreviations; 1 Introduction; Part I Modeling and Control of LPV Systems; 2 Modeling of LPV Systems; 2.1 LPV Model Structures; 2.2 Linearization Through LPV Modeling; 2.2.1 Jacobian Linearization; 2.2.2 Off-Equilibrium Linearization; 2.2.3 Fuzzy Linearization; 2.2.4 qLPV Linearization; 2.2.5 Non-uniqueness of the LPV Models; 2.3 Linearization by LFT Techniques; 2.4 Performance-Driven LPV Modeling; 2.5 LPV Modeling of Two Subsystems; 2.5.1 Modeling of the Vertical Dynamics; 2.5.2 Nonlinear Components of the Vertical Dynamics.
• 2.5.3 LPV Modeling of the Yaw
• Roll Dynamics2.6 Grey-Box Identification and Parameter Estimation; 2.6.1 Observer-Based Identification; 2.6.2 Adaptive Observer-Based Approach; 2.7 Parameter Estimation: Case Studies; 2.7.1 Identification of a Suspension System; 2.7.2 Identification of the Yaw
• Roll System; 2.7.3 Fault Estimation in LPV Systems; 3 Robust Control of LPV Systems; 3.1 The Modeling of Performances; 3.2 The Modeling of Uncertain Components; 3.3 Control Design Based on LPV Methods; 3.3.1 Formulation of a Nonlinear Controller; 3.3.2 Control Design Based on SLF Methods.
• 3.3.3 Polytopic Approach3.3.4 An LFT-Based Design; 3.4 Control Design Based on PDLF Methods; 3.4.1 The Analysis of LPV Systems; 3.4.2 The Control of LPV Systems With Induced mathcalL2-Norm Performance; 3.4.3 Inexact LPV Control Design; Part II Vertical and Longitudinal Control; 4 Suspension Systems in Vertical Dynamics; 4.1 Modeling of Performances in the Vertical Dynamics; 4.1.1 Performance Specifications; 4.1.2 Weighting Functions in the Control Design; 4.2 Modeling of Vertical Dynamics by Using Uncertainties; 4.2.1 Parameter Uncertainties; 4.2.2 Weighting Functions.
• 4.3 Active Suspension Design Based on mathcalHinfty Control4.4 Active Suspension Design Based on LPV Control; 4.5 Design of a Hierarchical Controller for an Active Suspension System; 4.5.1 Modeling of the Actuator Dynamics; 4.5.2 Tracking Control Based on Backstepping Design; 4.5.3 Simulation Examples; 5 Anti-roll Bars for Rollover Prevention; 5.1 Modelling of Performances in the Yaw
• Roll Dynamics; 5.1.1 Rollover Threshold; 5.1.2 Design of Weighting Functions; 5.2 LPV Control Methods for Rollover Prevention Systems; 5.3 Design of a Fault-Tolerant Rollover Prevention System.
• 6 Adaptive Cruise Control in Longitudinal Dynamics6.1 Adaptive Cruise Control; 6.2 Model-Based Robust Control Design; 6.2.1 Modeling Longitudinal Dynamics; 6.2.2 Robust Control Strategy; 6.2.3 Modeling Actuator Dynamics; 6.2.4 Design of Feedback Controller; 6.3 Speed Design Based on Multiobjective Optimization; 6.3.1 Motivation of the Speed Design; 6.3.2 Design of Speed Profile; 6.3.3 Principles of the Optimization of the Look-Ahead Control; 6.4 Optimization of the Vehicle Cruise Control; 6.4.1 Handling the Preceding Vehicle in the Speed Design.