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Performances improvement through an LPV/H control coordination strategy involving braking, semi-active suspension and steering Systems

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3 Author(s)
S. Fergani ; GIPSA-lab, Control Systems Department, Grenoble University - Grenoble INP, ENSE3 - Domaine Universitaire BP46, 38402 Saint Martin d'Hères - Cedex FRANCE ; O. Sename ; L. Dugard

This paper proposes a new multivariable design strategy for Global Chassis Control, using LPV/H robust controllers of semi-active suspension, active steering and electro-mechanical braking actuators. The proposed solution is a two stages control scheme: on one hand, rear braking and front steering to enhance the vehicle yaw stability and the lateral dynamics, and on the other hand, semi-active suspensions to improve comfort and car handling performances. The main idea of the strategy is to schedule the 3 control actions (braking, steering and suspension) according to the driving situation evaluated by a specific monitor. The main result of this paper is to propose a “LPV” strategy that aims to enhance vehicle performances by generating a hierarchical activation of the 3 controllers in critical driving situations. Simulations are carried out on a complex full vehicle model equipped with Magneto-Rheological Dampers characteristics subject to critical driving situations. A comparison between the proposed “LPV” strategy with the “LTI” case confirms the effectiveness of the proposed control strategy.

Published in:

2012 IEEE 51st IEEE Conference on Decision and Control (CDC)

Date of Conference:

10-13 Dec. 2012