eprintid: 1485
rev_number: 8
eprint_status: archive
userid: 6
dir: disk0/00/00/14/85
datestamp: 2013-02-20 10:24:10
lastmod: 2014-07-01 12:51:19
status_changed: 2013-02-20 10:24:10
type: book_section
metadata_visibility: show
creators_name: Milic, Vladimir
creators_name: Di Cairano, Stefano
creators_name: Kasac, Josip
creators_name: Bemporad, Alberto
creators_name: Situm, Zeljko
creators_id: 
creators_id: 
creators_id: 
creators_id: alberto.bemporad@imtlucca.it
creators_id: 
title: A numerical algorithm for nonlinear L2-gain optimal control with application to vehicle yaw stability control
ispublished: pub
subjects: QA75
subjects: TJ
divisions: CSA
full_text_status: none
keywords: Heuristic algorithms; Mathematical model; Optimal control; Tires; Vectors; Vehicle dynamics; Vehicles.
abstract: This paper is concerned with L2-gain optimal control approach for coordinating the active front steering and differential braking to improve vehicle yaw stability and cornering control. The vehicle dynamics with respect to the tire slip angles is formulated and disturbances are added on the front and rear cornering forces characteristics modelling, for instance, variability on road friction. The mathematical model results in input-affine nonlinear system. A numerical algorithm based on conjugate gradient method to solve L2-gain optimal control problem is presented. The proposed algorithm, which has backward-in-time structure, directly finds the feedback control and the "worst case" disturbance variables. Simulations of the controller in closed-loop with the nonlinear vehicle model are shown and discussed.
date: 2012-12
date_type: published
publisher: IEEE
pagerange: 5040 -5045
event_title: Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
id_number: 10.1109/CDC.2012.6426894
refereed: TRUE
isbn: 978-1-4673-2064-1
book_title: Proceedings of the IEEE 51st Annual Conference on Decision and Control (CDC), 2012
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6426894&isnumber=6425800
citation:   Milic, Vladimir and Di Cairano, Stefano and Kasac, Josip and Bemporad, Alberto and Situm, Zeljko  A numerical algorithm for nonlinear L2-gain optimal control with application to vehicle yaw stability control.   In:  Proceedings of the IEEE 51st Annual Conference on Decision and Control (CDC), 2012.   IEEE, 5040 -5045.  ISBN 978-1-4673-2064-1      (2012)