A centralized multilayer LPV/H-infinity control architecture for vehicle’s global chassis control, and comparison with a decentralized architecture

Ali Hamdan (1, 2) , Abbas Chokor (1, 2) , Reine Talj (1, 2) , Moustapha Doumiati (3, 4)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]
2 Labex MS2T - Laboratoire d'Excellence "Maîtrise des Systèmes de Systèmes Technologiques"
3 AGE - ESEO-AGE
4 IREENA - Institut de Recherche en Energie Electrique de Nantes Atlantique EA4642

This paper deals with the development of Global Chassis Controller where the Active Front steering, Direct Yaw Control and Active Suspensions, are coordinated together in the aim to improve the overall vehicle performance i.e maneuverability, lateral stability and rollover avoidance. The main contribution of this work is the integration of the Active suspension system (AS) in a centralized multilayer control architecture to control the roll angle. A polytopic approach is used to find the LPV /H ∞ controller where an offline Linear Matrix Inequality (LMI) optimal solver is used to realize the optimality of this controller. The different layers of this architecture are detailed. The proposed LPV /H ∞ controller is validated by simulation using Matlab/Simulink, and a comparison is done with a decentralized architecture that has been developed in the laboratory, to show the difference in behavior and performance of both strategies of control and the effectiveness of centralized one on the rollover avoidance.

Mots clés: Centralized Multilayer Control; LPV /H ∞; Global Chassis Control; Active Suspensions; Direct Yaw Control; Active Front Steering; decentralized control

Domaines: Sciences de l'ingénieur [physics]; Energie électrique

Ali Hamdan, Abbas Chokor, Reine Talj, Moustapha Doumiati. A centralized multilayer LPV/H-infinity control architecture for vehicle’s global chassis control, and comparison with a decentralized architecture. 21st International Federation of Automatic Control World Congress (IFAC WC 2020), Jul 2020, Berlin (virtual), Germany. pp.13890-13897, ⟨10.1016/j.ifacol.2020.12.902⟩. ⟨hal-02492723⟩