Robust Stability And Control Of Multi Body Ground Vehicles With Uncertain Dynamics And Failures

Author : Hsun-Hsuan Huang
Publisher :
ISBN 13 :
Total Pages : 112 pages
Book Rating : 4.:/5 (679 download)

DOWNLOAD NOW!

Download or read book Controller Design for Stability and Rollover Prevention of Multi-body Ground Vehicles with Uncertain Dynamics and Faults written by Hsun-Hsuan Huang and published by . This book was released on 2009 with total page 112 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: Rollover prevention is a fundamental and significant issue for vehicle safety research. Passenger and commercial vehicles with a relatively high center of gravity are especially prone to rollover. Rollover is a threat especially for military vehicles, which operate in severe operational environments and maneuvers. Additional assistance from active anti-rollover control systems can mitigate the deficiency in human capability. Furthermore, the ant-rollover control systems have to accommodate perturbations in the rollover parameters (e.g., speed and road adhesion coefficient) and external disturbances (such as adverse weather and terrain conditions) and have to be fault-tolerant in order to enhance rollover prevention. Thus, with rollover prevention of military multi-body ground vehicles as the objective of this research, in this dissertation, we first propose a novel control system analysis and design technique by extending the popular Linear Quadratic Regulator (LQR) control design method specializing it for the 'control coupled output regulation' problem. Specifically, in this rollover prevention problem, a 'unified rollover index' is proposed, which captures both the roll dynamics and lateral dynamics, explicitly into the optimization procedure of the LQR framework, which results in a performance index with a coupled term in state and control variables. Thus, the proposed rollover prevention technique effectively incorporates the physical nature of the vehicle dynamics into the problem formulation resulting in significantly improved performance. Moreover, the proposed technique allows us to compare different controller configurations and select the most efficient controller structure in terms of both control effort as well as cost. It is shown that because of the inherent coupling the system has, sometimes it is possible that a well designed single controller (actuator) can result in better performance than multiple controllers (actuators) with improper design. The proposed methodology is illustrated with two applications in the vehicle dynamics area. In the first application, an active steering control system is designed which shows the improved roll over prevention capability of the proposed design compared to the existing designs in the literature. The second application considers a more complicated tractor semi-trailer vehicle and shows how a single active anti-roll bar system at the trailer unit gives better performance than multiple-axle actuators at tractor and trailer together with the double lane change maneuver as the external disturbance. Next the issue of robust control design to handle uncertainties in the vehicle dynamics parameters as well as component faults. Based on the theory of 'Linear interval parameter matrix families', a single robust full state feedback control gain is designed by a convex combination of the control gains designed for finite points (vertices) of the uncertain parameter space. The uncertainty in the forward speed of the vehicle and the road adhesion coefficient are considered I the he proposed robust controller design. The results show the efficacy of the proposed robust controller under the assumed perturbations. Therefore, the proposed techniques not only prevent rollover of multi-body ground vehicles with controllers of reduced control effort (which means actuator and power savings) but also guarantee the stability and performance for vehicles with uncertain dynamics and faults.