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Nonlinear Robust Control of Vehicle Lateral Dynamics Considering Driver’s Dynamics

[+] Author Affiliations
Saeid Khosravani, Iman Fadakar, Amir Khajepour, Baris Fidan

University of Waterloo, Waterloo, ON, Canada

Bakhtiar Litkouhi, Shih Ken Chen

General Motors Company, Warren, MI

Paper No. IMECE2014-39311, pp. V012T15A019; 8 pages
  • ASME 2014 International Mechanical Engineering Congress and Exposition
  • Volume 12: Transportation Systems
  • Montreal, Quebec, Canada, November 14–20, 2014
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4961-3
  • Copyright © 2014 by ASME and General Motors


Guaranteeing stability of a vehicle without considering the driver in the control loop is difficult. In this paper, a driver-in-the-loop control strategy is proposed to improve the lateral vehicle behavior and extend the stability margin. The driver is modeled as a delayed linear controller with the aim of tracking the desired path. The main aim of the controller design is to track the desired yaw rate of the vehicle considering the driver effects. To make an implementable approach, it is assumed that the desired road information and the exact values of longitudinal and lateral forces are not available for the control level and the controller treats them as bounded uncertainties. The nonlinear damping technique is adopted to stabilize the yaw rate error. For two different robust designs, we have shown that the yaw rate error will confine inside a certain neighborhood even in the presence of uncertainty. The size of this neighborhood is directly proportionate to the gain of the robust control terms and the driver characteristics. A standard harsh double lane change scenario is simulated as the desired path for the driver. The results demonstrate that the design process improves the overall behavior of the driver-vehicle system in the presence of bounded uncertainties.

Copyright © 2014 by ASME and General Motors



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