The vehicle autopilot: Simulataneous robust control through parametric adaptation

Haftay Hailu, Sean Brennan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This work considers the problem of robustly controlling systems that have an implicit parametric coupling, and specifically considers the problem of lateral control of passenger vehicles at highway speeds. Passenger vehicles collectively have a wide range in dynamic behaviors mainly due to the ranges in size between different models. However, as vehicle size increases, the length, mass and mass moments of inertia also increase in predictable relationships that strongly couple these parameters to each other. The proposed control technique exploits this inherent parametric coupling in order to design a single robust controller that can be easily adapted parametrically from vehicle to vehicle. Parameter decoupling in the design model is achieved in the control synthesis step using a dimensional transformation. The resulting design model presents a system representation suitable for robust control of a very wide range of passenger vehicles using only a dimensional rescaling. This method is distinguished from prior work in that the structure of parametric dependence is included in the controller synthesis. The resulting design is tested on a scaled vehicle test setup developed at Pennsylvania State University. Both simulation and experimental results have shown the effectiveness of the technique for the proposed application.

Original languageEnglish (US)
Title of host publicationProceedings of 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Dynamic Systems and Control Division
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Print)0791837904, 9780791837900
StatePublished - Jan 1 2006
Event2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Chicago, IL, United States
Duration: Nov 5 2006Nov 10 2006

Publication series

NameAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
ISSN (Print)1071-6947

Other

Other2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006
CountryUnited States
CityChicago, IL
Period11/5/0611/10/06

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Software

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  • Cite this

    Hailu, H., & Brennan, S. (2006). The vehicle autopilot: Simulataneous robust control through parametric adaptation. In Proceedings of 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Dynamic Systems and Control Division (American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC). American Society of Mechanical Engineers (ASME).