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Design and experimental validation of linear and nonlinear vehicle steering control strategies

Abstract : This document proposes the design of three control laws dedicated to vehicle steering control, two based on robust linear control strategies and a non linear control, and presents a comparison between them. The two robust linear control laws (indirect and direct methods) are built around $M$ linear bicycle models, each of these control law is composed from a two $M$ PID controllers: $M$ PID to control the lateral deviation and $M$ another PID to control the vehicle yaw angle. The indirect control law method is designed using a oscillation method and a non linear optimization subject to $H_{\infty}$ constraint. The direct control law method is designed with the LMI (Linear Matrix Inequalities) optimization, in order to achieve $H_{\infty}$ performances. 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 designed using a linear bicycle vehicle model with variant parameters, but the aim is to simulate the non linear vehicle behavior under high dynamic demands with a four wheel vehicle model. These steering vehicle controls are validated experimentally using the data acquired by a laboratory vehicle Peugeot 307 developed by INRETS-MA and their performance results are compared. Moreover an unknown input sliding mode observer is introduced to estimate the road bank angle.
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Contributor : Lghani Menhour <>
Submitted on : Tuesday, May 14, 2013 - 1:39:26 PM
Last modification on : Thursday, September 24, 2020 - 5:04:01 PM


  • HAL Id : hal-00822269, version 1


Lghani Menhour, Daniel Lechner, Ali Charara. Design and experimental validation of linear and nonlinear vehicle steering control strategies. Vehicle System Dynamics, Taylor & Francis, 2012, 50 (6), pp.903-938. ⟨hal-00822269⟩



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