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http://dx.doi.org/10.3795/KSME-A.2017.41.10.967

Robust Vehicle Lateral Stability Controller Against Road Bank Angles  

Na, Ho Yong (School of Mechanical Engineering, Korea University of Technology and Education)
Cho, KunHee (School of Mechanical Engineering, Korea University of Technology and Education)
You, Seung-Han (School of Mechanical Engineering, Korea University of Technology and Education)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.41, no.10, 2017 , pp. 967-974 More about this Journal
Abstract
In this paper, a differential-braking-based yaw moment control system was developed to guarantee robust performance against road bank angle. A new target yaw rate model was established by combining the signal from a lateral acceleration sensor and 2-DOF single track model. In addition, a disturbance observer was utilized to take into account parameter uncertainties in yaw dynamics and to improve robust performance of the controller. CARSIM, which is a multi-DOF vehicle dynamic simulation tool, was used to verify the performance of the proposed controller in various driving scenarios. The simulation results indicate that the stability of the vehicle was robustly maintained by the controller, which is characterized by the reflection of the signal of a lateral acceleration sensor signal and by the compensation of the errors in the model parameters via the disturbance observer.
Keywords
Road Bank Angle; Lateral Stability Control; Reference Yaw Rate Model; Disturbance Observer;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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