0000000000422491
AUTHOR
Chuan Hu
Robust Composite Nonlinear Feedback Path-Following Control for Independently Actuated Autonomous Vehicles With Differential Steering
This paper investigates utilizing the front-wheel differential drive-assisted steering (DDAS) to achieve the path-following control for independently actuated (IA) electric autonomous ground vehicles (AGVs), in the case of the complete failure of the active front-wheel steering system. DDAS, which is generated by the differential torque between the left and right wheels of IA electric vehicles, can be utilized to actuate the front wheels as the sole steering power when the regular steering system fails, and thus avoids dangerous consequences for AGVs. As an inherent emergency measure and an active safety control method for the steering system of electric vehicles, DDAS strategy is a valuabl…
Robust Output-Feedback Based Fault-Tolerant Control of Active Suspension with Finite-Frequency Constraint ★ ★This work is partly supported by National Natural Science Foundation of China(Grant nos. 51205058, 51375086, 61403252), and Jiangsu Province Science Foundation for Youths, China(Grant no. BK20140634),the Foundation of Education Office of Guangxi Province of China (Grant no. KY2015YB101), the Fundamental Research Funds for the Central Universities and Jiangsu Postgraduate Innovation Programm (Grant no. KYLX-0102).
Abstract In this paper, the H∞ fault-tolerant control (FTC) problem of active suspensions with finite-frequency constraints is investigated. A full-car model is employed in the controller design such that the heave, pitch and roll motions can be simultaneously controlled. Both the actuator faults and external disturbance are considered in the controller design. As the human body is more sensitive to the vertical vibration in 4-8Hz, robust H∞ control with finite frequency constraints is designed. From the practical perspective, a robust dynamic output-feedback controller with fault tolerant ability is proposed, while other performances such as suspension deflection and actuator saturation ar…
Composite nonlinear feedback control for path following of four-wheel independently actuated autonomous ground vehicles
This paper studies the path following control problem for four-wheel independently actuated (FWIA) autonomous ground vehicles (AGVs) through integrated control of active front-wheel steering (AFS) and direct yaw-moment control (DYC). A modified composite nonlinear feedback (CNF) strategy is proposed to improve the transient performance and eliminate the steady-state errors in the path following control considering the tire force saturations, in the presence of the time-varying road curvature for the desired path. The path following is achieved through vehicle lateral and yaw control, i.e., the lateral velocity and yaw rate are simultaneously controlled to track their respective desired valu…