Steering vehicle control via robust linear control and non linear control: Experimental evaluation
Résumé
This paper proposes the design and synthesis of three control laws dedicated to vehicle steering control, two robust linear controls and a non linear control, and presents a comparison between them. The two robust linear control laws are composed from a two M PID controllers, M PID for the correction of the lateral deviation and M another PID for the correction of the vehicle yaw angle. These two control laws are settled using a Ziegler-Nichols and a LMI-LQR optimization method respectively. The non linear control for the correction of the lateral deviation is based on a continuous first order sliding mode controller. The different methods are synthesized using a linear bicycle vehicle model with variant parameters. These steering control strategies are designed to simulate the non linear vehicle behaviour under high dynamic demands with a four wheel vehicle model. The steering vehicle controls developed here were validated experimentally using the data acquired by a laboratory vehicle Peugeot 307 developed by INRETS-MA.