In this work, a discrete-time controller for ground vehicles is proposed, for the tracking of desired references for lateral and yaw velocities. For, a novel discrete-time model of the vehicle dynamics is considered, obtained by means of a variational integrator known as symplectic Euler. The control inputs are given by active front steering and rear torque vectoring. Simulations have been carried out considering a virtual automobile implemented in CarSim, and a comparative study has been performed considering alternative discrete-time controllers, based on a sampled continuous-time controller, and on a discrete-time vehicle model obtained by means of the explicit Euler method. The controller performance has been analyzed considering various sampling periods, showing a robustness property when the sampling period increases. Moreover, the robustness of the proposed discrete--time controller performance has been tested to show its robustness versus parameter variations.

Enhanced Discrete-Time Modeling via Variational Integrators and Digital Controller Design for Ground Vehicles

Di Gennaro, Stefano;Castillo-Toledo, Bernardino
2016-01-01

Abstract

In this work, a discrete-time controller for ground vehicles is proposed, for the tracking of desired references for lateral and yaw velocities. For, a novel discrete-time model of the vehicle dynamics is considered, obtained by means of a variational integrator known as symplectic Euler. The control inputs are given by active front steering and rear torque vectoring. Simulations have been carried out considering a virtual automobile implemented in CarSim, and a comparative study has been performed considering alternative discrete-time controllers, based on a sampled continuous-time controller, and on a discrete-time vehicle model obtained by means of the explicit Euler method. The controller performance has been analyzed considering various sampling periods, showing a robustness property when the sampling period increases. Moreover, the robustness of the proposed discrete--time controller performance has been tested to show its robustness versus parameter variations.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11697/130499
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