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

Yiwen Huang; Yan Chen

doi:10.23919/ACC.2018.8431674

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

Yiwen Huang, Yan Chen

Engineering, Ira A. Fulton Schools of (IAFSE)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 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 language	English (US)
Title of host publication	2018 Annual American Control Conference, ACC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3245-3250
Number of pages	6
ISBN (Print)	9781538654286
DOIs	https://doi.org/10.23919/ACC.2018.8431674
State	Published - Aug 9 2018
Event	2018 Annual American Control Conference, ACC 2018 - Milwauke, United States Duration: Jun 27 2018 → Jun 29 2018

Publication series

Name	Proceedings of the American Control Conference
Volume	2018-June
ISSN (Print)	0743-1619

Other

Other	2018 Annual American Control Conference, ACC 2018
Country/Territory	United States
City	Milwauke
Period	6/27/18 → 6/29/18

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.23919/ACC.2018.8431674

Cite this

Huang, Y., & Chen, Y. (2018). Lateral Stability Control of Autonomous Ground Vehicles Considering Stability Margins and State Estimation Errors. In 2018 Annual American Control Conference, ACC 2018 (pp. 3245-3250). Article 8431674 (Proceedings of the American Control Conference; Vol. 2018-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC.2018.8431674

Lateral Stability Control of Autonomous Ground Vehicles Considering Stability Margins and State Estimation Errors. / Huang, Yiwen; Chen, Yan.
2018 Annual American Control Conference, ACC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 3245-3250 8431674 (Proceedings of the American Control Conference; Vol. 2018-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Huang, Y & Chen, Y 2018, Lateral Stability Control of Autonomous Ground Vehicles Considering Stability Margins and State Estimation Errors. in 2018 Annual American Control Conference, ACC 2018., 8431674, Proceedings of the American Control Conference, vol. 2018-June, Institute of Electrical and Electronics Engineers Inc., pp. 3245-3250, 2018 Annual American Control Conference, ACC 2018, Milwauke, United States, 6/27/18. https://doi.org/10.23919/ACC.2018.8431674

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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{\textregistered}/Simulink co-simulation under different conditions based on a sliding mode controller.",

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AB - 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.

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

Abstract

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