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SUMMARY:Some LPV Approaches for Vehicle Dynamics Control.
DTSTART:20111202T101500
DTSTAMP:20260508T194130Z
UID:f4265a2fb6a4eea6b6b90e8b64508b1d4cbd8cd99c3d0b4bce209f19
CATEGORIES:Conferences - Seminars
DESCRIPTION:Pr. O. Sename\, GIPSA-lab.\, Control System Department\, Greno
 ble\, France.\nThis talk aims at presenting the interest of the Linear Par
 ameter Varying methods in automotive applications. The cases of the semi-a
 ctive suspension control problem and the yaw control using braking and ste
 ering actuators will be presented.\nConcerning the semi-active suspension 
 control problem  the challenge is the ability of taking into account the e
 ffect of the damper in the control design step. Different modeling strateg
 ies of semi-active dampers will be proposed  allowing to take into account
  some nonlinearities  and some LPV models will be. Then two control method
 ologies to handle the nonlinearities and constraints of semi-active damper
 s will be described.  \nThe first approach proposes the introduction of a 
 ’smart’ parameter is introduced to take the real abilities of the damp
 er into account. This scheduling parameter is indeed defined as the differ
 ence between the real controlled damper force and the required one given b
 y the controller. \nIn the second one  an LPV model is written from a quar
 ter-car vehicle model including a nonlinear semi-active damper model. The 
 considered nonlinear static model is taken into account the bi-viscous and
  hysteretic behaviors of the damper. From this LPV model  the dissipativit
 y constraint of the semi-active damper leads to the problem of input satur
 ation. This latter problem is actually solved by integrating the saturatio
 n constraint as a new scheduling parameter  leading to the design of an LP
 V polytopic controller.\nIn the second part the synthesis of a robust gain
 -scheduled H_inf MIMO vehicle dynamic stability controller (VDSC)  involvi
 ng both steering and rear braking actuators  is proposed to improve the ya
 w stability and lateral performances. The aim of this work is to provide a
  methodology to design such a controller while taking into account the bra
 king actuator limitations and use the steering actuator only if it is nece
 ssary. These objectives are treated in an original way by the synthesis of
  a parameter-dependent controller built in the LPV framework and by the so
 lution of an LMI problem. The proposed solution is coupled with a local AB
 S strategy to guarantee slip stability and make the solution complete. Non
 linear time and frequency domain simulations on a complex full vehicle mod
 el (which has been validated on a real car)  subject to critical driving s
 ituations  show the efficiency and robustness of the proposed solution. 
LOCATION:ME C2 405
STATUS:CONFIRMED
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