Interactive and Finite-time Optimized ℋ∞ Control for Potential Application to Enhancing Roll Stability in Path Following of Autonomous Heavy Vehicle 2019-01-0454
Abstract—Roll stability loss of heavy vehicle during cornering is a serious road safety problem worldwide. Researches propose effective anti-roll schemes to avoid rollover accident when cornering. In these researches, however, anti-roll control strategies are usually developed independent of steering control inputs, the interactive control characteristic between steering and anti-roll system have not been thoroughly investigated. In this paper, a novel roll stability control structure that considers the interaction between steering and anti-roll system, is presented and discussed. The proposed control framework is implemented based on dynamic game theory in which heavy vehicle roll stability can be represented as a dynamic difference game so that its two players, namely the steering and active anti-roll bar (AARB) system, can work together to provide more roll stability to the heavy vehicle system. The interactive control strategy between steering and AARB system is obtained by non-cooperative closed-loop feedback Nash game theory to ensure optimal roll stability performance. In order to validate the effectiveness of proposed control strategy in a fairer way, a finite-time optimized ℋ∞ roll stability control strategy in which steering input is only regarded as the exogenous disturbance, is also presented and used as comparison. Simulation results of various maneuver situations show that the proposed control framework can significantly improve the roll stability as well as lateral stability while guarantee favorable path tracking performance during cornering.
Yulong Liu, Kaiming Yang, Xiangkun He, Xuewu Ji