Authors

Johan Koopman, Dimitri Jeltsema, Michel Verhaegen

Abstract

A passivity-based wheel slip controller is presented that is robust against tyre-road friction uncertainties. Using a port-Hamiltonian form of a quarter-car with LuGre tyre model, an energy shaping controller is constructed that stabilizes some desired relative (sliding) velocity. The measured variables are the friction force and the relative velocity. A stability analysis shows that this controller is robust against tyre-road friction uncertainties. A simplified control law is proposed that inherits the robustness characteristics of the original controller. Finally, this simplified controller is tested in a simulation environment, showing that the desired relative velocity is stabilized for different friction parameter values.

Citation

  • Journal: 49th IEEE Conference on Decision and Control (CDC)
  • Year: 2010
  • Volume:
  • Issue:
  • Pages: 2916–2921
  • Publisher: IEEE
  • DOI: 10.1109/cdc.2010.5717466

BibTeX

@inproceedings{Koopman_2010,
  title={{Wheel slip control using energy shaping}},
  DOI={10.1109/cdc.2010.5717466},
  booktitle={{49th IEEE Conference on Decision and Control (CDC)}},
  publisher={IEEE},
  author={Koopman, Johan and Jeltsema, Dimitri and Verhaegen, Michel},
  year={2010},
  pages={2916--2921}
}

Download the bib file

References

  • olsson, Control systems with friction (1996)
  • Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica vol. 38 585–596 (2002) – 10.1016/s0005-1098(01)00278-3
  • Ortega, R. & García-Canseco, E. Interconnection and Damping Assignment Passivity-Based Control: A Survey. European Journal of Control vol. 10 432–450 (2004) – 10.3166/ejc.10.432-450
  • Shibahata, Y. Progress and future direction of Chassis control technology. Annual Reviews in Control vol. 29 151–158 (2005) – 10.1016/j.arcontrol.2004.12.004
  • Swevers, J., Al-Bender, F., Ganseman, C. G. & Projogo, T. An integrated friction model structure with improved presliding behavior for accurate friction compensation. IEEE Transactions on Automatic Control vol. 45 675–686 (2000) – 10.1109/9.847103
  • tsiotras, On the Optimal Braking of Wheeled Vehicles. Proc of the American Control Conference (2000)
  • Velenis, E., Tsiotras, P., Canudas-de-Wit, C. & Sorine, M. Dynamic tyre friction models for combined longitudinal and lateral vehicle motion. Vehicle System Dynamics vol. 43 3–29 (2005) – 10.1080/00423110412331290464
  • Zetterstrom, S. Electromechanical steering, suspension, drive and brake modules. Proceedings IEEE 56th Vehicular Technology Conference vol. 3 1856–1863 – 10.1109/vetecf.2002.1040538
  • Canudas-de-Wit, C. Fun-To-Drive By Feedback. Proceedings of the 44th IEEE Conference on Decision and Control 13–13 doi:10.1109/cdc.2005.1582110 – 10.1109/cdc.2005.1582110
  • Canudas-de-Wit, C., Tsiotras, P., Velenis, E., Basset, M. & Gissinger, G. Dynamic Friction Models for Road/Tire Longitudinal Interaction. Vehicle System Dynamics vol. 39 189–226 (2003) – 10.1076/vesd.39.3.189.14152
  • Drakunov, S., Ozguner, U., Dix, P. & Ashrafi, B. ABS control using optimum search via sliding modes. Proceedings of 1994 33rd IEEE Conference on Decision and Control vol. 1 466–471 – 10.1109/cdc.1994.411013
  • Deur, J., Asgari, J. & Hrovat, D. A 3D Brush-type Dynamic Tire Friction Model. Vehicle System Dynamics vol. 42 133–173 (2004) – 10.1080/00423110412331282887
  • Jonasson, M. & Wallmark, O. Control of electric vehicles with autonomous corner modules: implementation aspects and fault handling. International Journal of Vehicle Systems Modelling and Testing vol. 3 213 (2008) – 10.1504/ijvsmt.2008.023839
  • Hirschorn, R. M. & Miller, G. Control of nonlinear systems with friction. IEEE Transactions on Control Systems Technology vol. 7 588–595 (1999) – 10.1109/87.784422
  • Canudas de Wit, C., Olsson, H., Astrom, K. J. & Lischinsky, P. A new model for control of systems with friction. IEEE Transactions on Automatic Control vol. 40 419–425 (1995) – 10.1109/9.376053
  • Bakker, E., Nyborg, L. & Pacejka, H. B. Tyre Modelling for Use in Vehicle Dynamics Studies. SAE Technical Paper Series (1987) doi:10.4271/870421 – 10.4271/870421
  • koopman, Port-Hamiltonian Description and Analysis of the LuGre Friction Model. submitted for publication (2010)