A LPV/Hinf Global Chassis Controller for performances Improvement Involving Braking, Suspension and Steering Systems

Soheib Fergani (1) , Olivier Sename (1) , Luc Dugard (1)

1 GIPSA-SLR - GIPSA - Systèmes linéaires et robustesse

This paper is concerned with the design of a multivariable Global Chassis Controller (GCC), using LPV/H∞ robust controllers for suspension, active steering and electro-mechanical braking actuators which aim at improving comfort and safety performance in critical driving situations. The proposed solution is to schedule the three control actions (braking, steering and suspension) according to the driving situation evaluated by a specific monitor. In emergency cases, the GCC provides a working hierarchical use of the 3 controllers, depending on the dangerousness of the driving situation. Simulations on a complex nonlinear full vehicle model, subject to critical driving situations, show the reliability and robustness of the solution.

Mots clés: LMI; Vehicle Robust control; suspension; Braking; monitoring Hinf; LMI.; Steering; LPV

Domaines: Automatique / Robotique

Soheib Fergani, Olivier Sename, Luc Dugard. A LPV/Hinf Global Chassis Controller for performances Improvement Involving Braking, Suspension and Steering Systems. ROCOND 2012 - 7th IFAC Symposium on Robust Control Design, Jun 2012, Aalborg, Denmark. pp.n/c, ⟨10.3182/20120620-3-DK-2025.00169⟩. ⟨hal-00764988⟩