0000000000422491

AUTHOR

Chuan Hu

showing 3 related works from this author

Robust Composite Nonlinear Feedback Path-Following Control for Independently Actuated Autonomous Vehicles With Differential Steering

2016

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…

0209 industrial biotechnologyEngineeringObserver (quantum physics)business.industryActive safetyEnergy Engineering and Power Technology020302 automobile design & engineeringTransportationControl engineering02 engineering and technologyActive steeringPower (physics)Vehicle dynamicsNonlinear system020901 industrial engineering & automation0203 mechanical engineeringControl theoryAutomotive EngineeringTorqueElectrical and Electronic EngineeringbusinessIEEE Transactions on Transportation Electrification
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Robust Output-Feedback Based Fault-Tolerant Control of Active Suspension with Finite-Frequency Constraint ★ ★This work is partly supported by Nationa…

2015

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…

Output feedbackController designEngineeringbusiness.industryVertical vibrationFault toleranceControl engineeringActive suspensionActuator saturationControl and Systems EngineeringControl theoryDeflection (engineering)businessActuatorIFAC-PapersOnLine
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Composite nonlinear feedback control for path following of four-wheel independently actuated autonomous ground vehicles

2015

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…

EngineeringControl and Optimizationbusiness.industryYawCurvatureControl and Systems Engineering; Modeling and Simulation; Control and OptimizationVehicle dynamicsNonlinear systemControl and Systems EngineeringControl theoryModeling and SimulationPath (graph theory)Transient (oscillation)Transient responsebusiness2015 54th IEEE Conference on Decision and Control (CDC)
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