LFT-Based Identification of Lateral Vehicle Dynamics

Set-membership LPV model identification of vehicle lateral dynamics

Set-membership identification of a Linear Parameter Varying (LPV) model describing the vehicle lateral dynamics is addressed in the paper. The model structure, chosen as much as possible on the ground of physical insights into the vehicle lateral behavior, consists of two single-input single-output LPV models relating the steering angle to the yaw rate and to the sideslip angle. A set of experi...

Vehicle lateral dynamics control

This document deals with the controlled system of lateral vehicle dynamics regulated in terms of a reference model outputs. The reference model means a simplified mathematical vehicle model, which describes the desired lateral movements of a vehicle. The output of the reference model produces the most optimal trajectory in various driving conditions. The target of the control strategy is to hol...

A new atness-based control of lateral vehicle dynamics

A Robust Lateral Vehicle Dynamics Control

The paper addresses the robust design of a lateral stability controller for ground vehicles. Nonlinear vehicle dynamics are modeled by an approximate hybrid piecewise–affine model. Control of the vehicle yaw rate and lateral velocity of the center of gravity is achieved through steering and four wheels independent braking. Uncertainty in actuation is explicitly taken into account by introducing...

Intelligent identification of vehicle’s dynamics based on local model network

This paper proposes an intelligent approach for dynamic identification of the vehicles. The proposed approach is based on the data-driven identification and uses a high-performance local model network (LMN) for estimation of the vehicle’s longitudinal velocity, lateral acceleration and yaw rate. The proposed LMN requires no pre-defined standard vehicle model and uses measurement data to identif...