Lateral Stability Control of Autonomous Ground Vehicles Considering Stability Margins and State Estimation Errors

Yiwen Huang, Yan Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

This paper introduces a new vehicle lateral stability control method, which involves both stability margin design and state estimation error analysis. To achieve the objective of always keeping vehicle states within vehicle lateral stability regions, the corresponding stability margins are designed and analytically formulated. In addition, to promote the fidelity of the stability analysis due to the limited estimation accuracy of vehicle lateral velocity and yaw rate, the estimation errors are considered in the stability analysis and their impacts on the stability control are discussed. The effectiveness of the proposed vehicle stability margin design and state estimation error analysis is validated by CarSim®/Simulink co-simulation under different conditions based on a sliding mode controller.

Original languageEnglish (US)
Title of host publication2018 Annual American Control Conference, ACC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3245-3250
Number of pages6
ISBN (Print)9781538654286
DOIs
StatePublished - Aug 9 2018
Event2018 Annual American Control Conference, ACC 2018 - Milwauke, United States
Duration: Jun 27 2018Jun 29 2018

Publication series

NameProceedings of the American Control Conference
Volume2018-June
ISSN (Print)0743-1619

Other

Other2018 Annual American Control Conference, ACC 2018
Country/TerritoryUnited States
CityMilwauke
Period6/27/186/29/18

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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