The vehicle autopilot

Simulataneous robust control through parametric adaptation

Haftay Hailu, Sean N. 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 - 2006
Event2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Chicago, IL, United States
Duration: Nov 5 2006Nov 10 2006

Other

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

Fingerprint

Robust control
Controllers

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Software

Cite this

Hailu, H., & Brennan, S. N. (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 (ASME).
Hailu, Haftay ; Brennan, Sean N. / The vehicle autopilot : Simulataneous robust control through parametric adaptation. Proceedings of 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Dynamic Systems and Control Division. American Society of Mechanical Engineers (ASME), 2006.
@inproceedings{0df74a8c9a38463a8648e45486c51aa8,
title = "The vehicle autopilot: Simulataneous robust control through parametric adaptation",
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.",
author = "Haftay Hailu and Brennan, {Sean N.}",
year = "2006",
language = "English (US)",
isbn = "0791837904",
booktitle = "Proceedings of 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Dynamic Systems and Control Division",
publisher = "American Society of Mechanical Engineers (ASME)",

}

Hailu, H & Brennan, SN 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 (ASME), 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006, Chicago, IL, United States, 11/5/06.

The vehicle autopilot : Simulataneous robust control through parametric adaptation. / Hailu, Haftay; Brennan, Sean N.

Proceedings of 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Dynamic Systems and Control Division. American Society of Mechanical Engineers (ASME), 2006.

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

TY - GEN

T1 - The vehicle autopilot

T2 - Simulataneous robust control through parametric adaptation

AU - Hailu, Haftay

AU - Brennan, Sean N.

PY - 2006

Y1 - 2006

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84920634168&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84920634168&partnerID=8YFLogxK

M3 - Conference contribution

SN - 0791837904

SN - 9780791837900

BT - Proceedings of 2006 ASME International Mechanical Engineering Congress and Exposition, IMECE2006 - Dynamic Systems and Control Division

PB - American Society of Mechanical Engineers (ASME)

ER -

Hailu H, Brennan SN. 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 (ASME). 2006