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Abstract: In this work an integrated attitude control of a vehicle is designed. The actuators considered
are the active front steering, the rear torque vectoring, and the semiactive suspensions. We design also
an algorithm for the saturation management. The resulting controller is hybrid. In nominal conditions,
when saturation conditions do not occur, a feedback guarantees exponential tracking of the reference
trajectories. In critical conditions, a hybrid feedback law assigns higher priority to some states to improve
the tracking. It is shown that the saturation management improves the controller performance. Some
simulations results are provided, showing the performance of the proposed controller.
1. INTRODUCTION
In the latest years, the development of an integrated philosophy
has changed the way researchers and engineers design feedback
devices in automotive control. With respect to some years ago,
a much larger computational power has been made available
to the control unit, due to the improvement of the electronics
and to the increasing number of available customer features
and technologies. This allows designers of automotive control
systems to cope with many kinds of requests and constraints.
The design of active attitude control systems, addressed in this
paper, is one of the main research topics in vehicle control
area. These devices modify the vehicle dynamics imposing
forces or moments to the vehicle body in different ways (see,
e.g. Burgio [2006], Karbalaei [2007], Baslamisli [2007], Ackermann [1995], Malan [1994]), and can now make use of smart
sensors (for example, the socalled intelligent tires), allowing
precise and distributed measurements from the environment,
to increase the performance of the control action, the vehicle
stability, and the safety and comfort of the driver. On top of that,
hierarchical and hybrid structures guarantee increased performance and robustness of control strategies, taking into account
the interactions among vehicle, driver and environment, considered in parallel in one core algorithm.
An important design factor to be considered in the standalone
or integrated controller design is the actuator saturation, which
limits the maximum obtainable performance. In an integrated
control structure more power is available for control, thus
This work has been partially supported by the HYCON2 European Project,
Grant agreement No. 257462.
The contribution of the present work is twofold. First, we propose a fullyintegrated controller, achieving the tracking of yaw
rate, lateral velocity and roll dynamics (angle and velocity), by
means of three actuators, in nominal conditions. Second, we
propose a methodology, based on a hybrid controller, for the
management of the actuators in saturation conditions, based on
fixed priorities on the states to be tracked, according to their
importance for the vehicle attitude.
The paper is organized as follows. In Section 2, the mathematical model of the vehicle is presented, and the control problem
is stated. In Section 3, the nonlinear technique is developed
and the saturation management is described. In Section 4, the
proposed controller is tested with simulations and comparisons.
Some comments conclude the paper.
(1)
(3)
(4)
+ ms hd (v y + vx z )
where Jx is the vehicle inertia momentum about the x axis,
Jr = Jx + ms h2d , bx is the suspension roll damping, kx is
the suspension roll stiffness, and g is the gravity acceleration
constant.
From (1), (3), (4) we get the mathematical model of a vehicle
with yaw, lateral and roll dynamics
i
1 h
(Fy,f lf Fy,r lr ) + Mz
z =
Jz,e
+ km kz he (Fy,f + Fy,r )
i
h
km kz bx x + (kx ms ghd )x
v y = z vx +
1
(Fy,f + Fy,r )
me
h
+ km kz he (Fy,f lf Fy,r lr ) + Mz
i
h
km he bx x + (kx ms ghd )x
i
h
x = km bx x + (kx ms ghd )x
i
h
+ km kz (Fy,f lf Fy,r lr ) + Mz
+ km he (Fy,f + Fy,r )
x = x
(5)
with j = f, r, where
j,ref is a limit value for the slip angle,
above which the control action is needed.
m2s h2d
Jz
m
m
me =
,
1 + ms km hd he
ms
hd ,
he =
m
Jx,e = Jr
Jz
1 + km kz Jzx
Jzx
.
kz =
Jz
Jz,e =
bx = bx bx,0
with bx,0 the damping when the SAS system is not active.
Clearly, the real active front input is the control angle c which
can be determined by inverting (2), obtaining
The control aim is to track asymptotically some bounded references, with bounded derivatives, for z , vy , x and x . More
precisely, the reference generator is
i
1 h
z,ref =
ref (Fy,f,ref lf Fy,r,ref lr )
Jz,ref
+ km kz he ref (Fy,f,ref + Fy,r,ref )
i
h
km kz bx x,ref + (kx ms ghd )x,ref
v y,ref
x,ref
1
= z,ref vx +
ref (Fy,f,ref + Fy,r,ref )
hme
i
+ km kz he ref (Fy,f,ref lf Fy,r,ref lr )
h
i
km he bx x,ref + (kx ms ghd )x,ref
= km bx,ref x,ref + kx,ref x,ref
h
i
+ km kz ref (Fy,f,ref lf Fy,r,ref lr )
r1
Fy,f
u1
1
(8)
u2 = Mz = C r2
u3
r3
bx
where
lf
1
km kz he + Jz,e
km kz x
Jz,e
C = 1 + k k h l
km kz he km he x
m z e f
me
(6)
km (he + kz lf )
r1 = d1 km kz he Fy
r2 = d2 + z vx
In particular, we set
Fy,j,ref (j,ref ) =
Fy,j (
j,ref ) + Fy,j
(
j,ref )(j,ref +
j,ref )
j,ref <
j,ref
|j,ref |
j,ref
= Fy,j (j,ref )
j,ref ) + Fy,j
(
j,ref )(j,ref
j,ref )
Fy,j (
j,ref >
j,ref
km kz
(9)
km x
and
x,ref = x,ref
r,ref = r x,ref
(7)
1
Ty + km kz Dy
Jz,e
1
Fy km kz he Ty + km he Dy
me
r3 = d3 km he Fy km kz Ty + km Dy
Fy = (Fy,f,0 + Fy,r )
Ty = (Fy,f,0 lf Fy,r lr )
Dy = bx,0 x + (kx ms ghd )x .
In the following we assume that
km kz2 Jz,e 6= 1,
me h2e km 6= 1
C 1 =
me
1
1me h2e km
Jz,e
1km kz2 Jz,e
1meehf2 km
kz Jz,e
1
x 1km kz2 Jz,e
me h e
1
x 1me h2e km
m l
me h e
1 1m
2
e h km
m e h e lf
1me h2e km
kz Jz,e
1km kz2 Jz,e
2
(1me h2e km
kz2 Jz,e )
1
x km (1me h2e km )(1km kz2 Jz,e )
while bx = bx,max .
1
lf
1
km kz he + Jz,e
Jz,e
Fy,f
=
Mz
m1e + km kz he lf km kz he
km kz x
r1
.
bx,max
r2
km he x
Note that if the saturation is due to the fact that x = 0, this
control law reduces
1
lf
1
km kz he + Jz,e
J
z,e
Fy,f
r1
=
Mz
r2
1
me + km kz he lf km kz he
i = 1, , m
(10)
u1
r1
Cu = C ... = ... = R
(11)
um
rm
be the general equation for determining the control law satisfying (10). We partition u into a vector of nonsaturating and
saturating inputs
uns
, uns Rmns , us Rms , mns +ms = m.
u=
us
We operate the corresponding partition on C, so that (11)
becomes
uns
= R.
Cns Cs
us
Finally, to select the first mns control requirements
Cns Cs
Cns Cs = Imns mns 0mns ms
= Imns mns 0mns ms R
R
so that one calculates the nonsaturating controls
1
R Cs us .
uns = Cns
To illustrate the proposed saturation management, let us consider some examples in the case under study. Let us assume that
the SAS actuator, calculated according to (8), saturates. Hence,
bx,max km kz x
ms = 150 kg
lf = 1.17 m
=1
lr = 1.43 m
2
hd = 0.5 m
2
Jz = 2300 kg m
Jx = 350 kg m
Jzx = 50 kg m2
Ayf = 1.81
Ayr = 1.68
Byf = 7.2
Byr = 11
Cyf = 8854
Cyr = 8394
ref =
f,ref = 0.08
r,ref = 0.04
kx,ref = kx
bx,ref = 11800.
(a)
0.06
0.05
0.04
0.03
0.02
0.01
0.5
10
1.5
2.5
2.5
(b)
x 10
(a)
35
8
30
4
25
2
20
0
15
10
6
5
8
0
0.5
1.5
2.5
0.5
1.5
0.2
0.2
0.4
0.6
0.8
1.2
1.4
1.6
0.5
1.5
2.5
(a)
(a)
0.3
10000
5000
0.25
0.2
0.5
1.5
2.5
2.5
2.5
(b)
1000
0.15
0
1000
0.1
2000
0.5
0.05
1.5
(c)
x 10
0
0
0.05
0.5
1.5
2.5
(b)
0.5
1.5
0.08
0.06
0.04
0.02
CONCLUSIONS
0.02
0.04
0.06
0.08
0.5
1.5
2.5
(a)
(a)
40
30
20
10
10
20
30
40
50
(b)
(b)
2.5
4
1.5
2
1
0
0.5
2
0
4
0.5
10
1.5
0.08
0.06
0.04
0.02
0.02
0.04
0.06
0.08
0.1
(a)
0.3
(a)
x 10
1
0.5
0.2
0
0.5
0.1
1
1
0.1
0.5
0.2
0.5
(b)
x 10
1
0.3
3
(c)
x 10
0.4
2
0.5
0.6
0
2
0
(d)
15
10
10
15
Fig. 10. (a) Fy,f with the controller Csm (solid), Fy,f with the
controller Cw (dashed) [N vs s]; (b) Mz with the controller
Csm (solid), Mz with the controller Cw (dashed) [Nm vs s];
(c) bx with the controller Csm (solid), bx with the controller
Cw (dashed) [N m rad/s vs s]; (d) c with the controller Csm
(solid), c with the controller Cw (dashed), d (dashdot)
[deg vs s]
A. Y. Ungoren, H. Peng, and H. E. Tseng, A Study on Lateral
Speed Estimation Methods, International Journal of Vehicle
Autonomous Systems, Vol. 2, No. 1/2, pp. 126144, 2006.
Z. Lin, A. A. Stoorvogel, and A. Saberi, Output regulation for
linear systems subject to input saturation, Automatica, Vol.
32, No. 1, pp. 29-47, 1996.
T. H. Yang, and E. Polak, Moving horizon control of nonlinear
systems with input saturation, disturbances and plant uncertainty, International Journal of Control, 58(4), 875903,
1993.
(a)
35
1
30
0.5
0
25
6
Trajectory y (m)
(b)
1
0.5
20
15
0
0
10
(c)
1
5
0.5
0
0
0
20
40
60
80
100
120
Trajectory x (m)
140
160
180
200