International Journal of Automotive Technology

  • 제8권3호
  • /
  • Pages.351-359
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  • 2007
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  • 1229-9138(pISSN)
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  • 1976-3832(eISSN)
한국자동차공학회 (The Korean Society of Automotive Engineers)
권호 표지

HIERARCHICAL SWITCHING CONTROL OF LONGITUDINAL ACCELERATION WITH LARGE UNCERTAINTIES

  • Gao, F. (State Key Laboratory of Automotive Safety and Energy, Tsinghua University) ;
  • Li, K.Q. (State Key Laboratory of Automotive Safety and Energy, Tsinghua University)
  • 발행 : 2007.06.30
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초록

In this study, a hierarchical switching control scheme based on robust control theory is proposed for tracking control of vehicle longitudinal acceleration in the presence of large uncertainties. A model set consisting of four multiplicative-uncertainty models is set up, and its corresponding controller set is designed by the LMI approach, which can ensures the robust performance of the closed loop system under arbitray switching. Based on the model set and the controller set, a switching index function by estimating the system gain of the uncertainties between the plant and the nominal model is designed to determine when and which controller should be switched into the closed loop. After theoretical analyses, experiments have also been carried out to validate the proposed control algorithm. The results show that the control system has good performance of robust stability and tracking ability in the presence of large uncertainties. The response time is smaller than 1.5s and the max tracking error is about $0.05\;m/S^2$ with the step input.

키워드

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