Browse > Article

Lateral Vehicle Control Based on Active Flight Control Technology  

Seo Young-Bong (School of Mechanical Engineering and Research Institute of Mechanical Technology, Pusan National University)
Choi Jae-Weon (School of Mechanical Engineering and Research Institute of Mechanical Technology, Pusan National University)
Duan Guang Ren (Center for Control Theory and Guidance Technology, Harbin Institute of Technology)
Publication Information
Journal of Mechanical Science and Technology / v.20, no.7, 2006 , pp. 981-992 More about this Journal
Abstract
In this paper, a lateral vehicle control using the concept of control configured vehicle (CCV) is presented. The control objectives for the lateral dynamics of a vehicle include the ability to follow a chosen variable without significant motion change in other specified variables. The analysis techniques for decoupling of the aircraft motions are utilized to develop vehicle lateral control with advanced mode. Vehicle lateral dynamic is determined to have the steering input and control torque input. The additional vehicle modes are also defined to using CCV concept. We use right eigenstructure assignment techniques and command generator tracker to design a control law for an lateral vehicle dynamics. The desired eigenvectors are chosen to achieve the desired decoupling (i.e., lateral direction speed and yaw rate). The command generator tracker is used to ensure steady-state tracking of the driver's command. Finally, the developed design is utilized by using the lateral vehicle dynamic with four wheel.
Keywords
Active Control Technology (ACT); Control Configured Vehicle (CCV); Flight Control System; Lateral Vehicle Control; 4WS; Eigenstructure Assignment; Command Generator Tracker; Motion Decoupling; Multi-variable Control;
Citations & Related Records

Times Cited By Web Of Science : 0  (Related Records In Web of Science)
Times Cited By SCOPUS : 0
연도 인용수 순위
  • Reference
1 Sobel, K. M. and Shapiro, E. Y., 1985a, 'A Design Methodology for Pitch Pointing Flight Control Systems,' AIAA Journal of Guidance, Control and Dynamics, Vol. 8, No.2, pp.181-187   DOI   ScienceOn
2 Sobel, K. M. and Shapiro, E. Y., 1985b, 'Eigenstructure Assignment for Design of Multimode Flight Control Systems,' IEEE Control Systems Magazine, Vol. 5, No.2, pp. 9-15   DOI   ScienceOn
3 Srinathkumar, S., 1978, 'Eigenvalue/Eigenvector Assignment Using Output Feedback,' IEEE Transactions on Automatic Control, Vol. 23, No. 1, pp.79-81   DOI
4 Wang, J. Y. and Tomizuka, M., 2001, 'Reach-ability Analysis of Hybrid Lateral Control Problem for Automated Heavy-Duty Vehicles,' Proceedings of the 2001 American Control Conference, Vol. 1, pp.1-6
5 White, B. A., 1991, 'Eigenstructure Assignment by Output Feedback,' International Journal of Control, Vol. 53, No.6, pp. 1413-1429   DOI   ScienceOn
6 Will, A. B. and Zak, S. W., 1997, 'Modeling and Control of an Automated Vehicle,' Vehicle System Dynamics, No. 27, pp.131-155   DOI   ScienceOn
7 Wonham, W. M., 1989, Linear Multivariable Control : A Geometric Approach, 2nd Ed., Springer-Verlag, New York, pp.86-92
8 Zhang, Q., Slater, G. L. and Allemang, R. J., 1990, 'Suppression of Undesired Inputs of Linear Systems by Eigenspace Assignment,' Journal of Guidance, Control, and Dynamics, Vol. 13, No.3, pp. 330-336   DOI
9 Hamdan, A. M. A. and Nayfeh, A. H., 1989, 'Measures of Modal Controllability and Observability for First- and Second- Order Linear Systems,' Journal of Guidance, Control and Dynamics, Vol. 12, No.3, pp.421-428   DOI   ScienceOn
10 Kachroo, P. and Tomizuka, M., 1995, 'Vehicle Control for Automated Highway Systems for Improved Lateral Maneuverability,' IEEE International Conference on Systems, Man and Cybernetics, Vol. 1, pp. 777-782   DOI
11 Kwon, B. H. and Youn, M. J., 1987, 'Eigen-value-Generalized Eigenvector Assignment by Output Feedback,' IEEE Transactions on Automatic Control, Vol. 32, No.5, pp.417-42l   DOI
12 Liebst, B. S. and Garrard, W. L., 1986, 'Design of an Active Flutter Suppression System,' Journal of Guidance, Control and Dynamics, Vol. 9, No.1, pp. 64-71   DOI   ScienceOn
13 Matsumoto, N., Kuraoka, H. and Ohba, M., 1991, 'An Experimental Study on Vehicle Lateral and Yaw Motion Control,' International Conference on Industrial Electronics, Control and Instrumentation, Vol. 1, pp. 113-118   DOI
14 Park, J. H. and Kim, Y. S., 1998, 'Decentralized Variable Structure Control for Active Suspensions Based on a Full-Car Model,' Proceedings of the IEEE International Conference on Control Applications, pp. 383 - 387   DOI
15 Siouris, G.M., Lee J. G. and Choi J. W., 1995, 'Design of a Modern Pitch Pointing Control System,' IEEE Transactions on Aerospace and Electronic Systems, Vol. 31, No.2, pp.730-738   DOI   ScienceOn
16 Smith, D. E. and Starkey, J. M., 1995, 'Effects of Model Complexity on the Performance of Au-to mated Vehicle Steering Controllers: Model Development, Validation and Comparison,' Vehicle System Dynamics, No. 24, pp. 163-181   DOI   ScienceOn
17 Choi, J. W., Lee, J. G., Kim, Y. and Kang, T., 1994, 'Left Eigenstructure Assignment: A Generalized Lyapunov Equation Approach,' Proceedings of the First Asian Control Conference, Tokyo, Japan, July 27-30, pp. 21-24
18 Alleyne, A., 1997, 'A Comparison of Alternative Intervention Strategies for Unintended Roadway Departure (URD) Control,' Vehicle System Dynamics, No. 27, pp. 157-186   DOI   ScienceOn
19 Andry, A. N., Shapiro, E. Y. and Chung, J. C., 1983, 'Eigenstructure Assignment for Linear Systems,' IEEE. Transactions on Aerospace and Electronic Systems, Vol. 19, pp. 711-729   DOI   ScienceOn
20 Cho, Y. H. and Kim, J., 1996, 'Stability Analysis of the Human Controlled Vehicle Moving Along a Curved Path,' Vehicle System Dynamics, No. 25, pp. 51-69   DOI
21 Choi, J. W., Lee, J. G., Kim, Y. and Kang, T., 1995, 'Design of an Effective Controller via Disturbance Accommodating Left Eigenstructure Assignment,' Journal of Guidance, Control and Dynamics, Vol. 18, No.2, pp. 347-354   DOI   ScienceOn
22 Dugoff, H., Fancher, P. S. and Segel, L., 1970, 'An Analysis of Tire Traction Properties and Their Influence on Vehicle Dynamics Performance,' SAE Transactions 79 (SAE Paper No 700377), pp. 341-366