Print Email Facebook Twitter Hybrid adaptive chassis control for vehicle lateral stability in the presence of uncertainty Title Hybrid adaptive chassis control for vehicle lateral stability in the presence of uncertainty Author Jagga, Dhruv (Student TU Delft) Lv, Maolong (TU Delft Team Bart De Schutter) Baldi, S. (TU Delft Team Bart De Schutter) Contributor Antsaklis, Panos (editor) Date 2018 Abstract To guarantee the safety of passengers in a wide range of driving situations, vehicle lateral stability should be achieved in the presence of nonlinear dynamics (consequence of critical maneuvers) and uncertainty (consequence of uncertain parameters). This paper designs a hybrid adaptive strategy to attain vehicle stability in these situations. The design is based on a piecewise affine (PWA) description of the vehicle model where partitions describe both the linear and the nonlinear regimes, and where parametric uncertainties are handled by estimators for the control gains that can adapt to different conditions acting on the system. Comparisons with strategies that merely exploits the linear region of the vehicle dynamics are provided for different driving conditions, and performance improvements of the proposed methodology are assessed. Subject Hybrid adaptive controlIntegrated chassis controlPWA vehicle model To reference this document use: http://resolver.tudelft.nl/uuid:a29a19ac-cd85-4f69-8d41-a53004dc0ff2 DOI https://doi.org/10.1109/MED.2018.8442921 Publisher IEEE, Piscataway, NJ, USA ISBN 978-1-5386-7890-9 Source Proceedings MED 2018 - 26th Mediterranean Conference on Control and Automation Event MED 2018: 26th Mediterranean Conference on Control and Automation, 2018-06-19 → 2018-06-22, Zadar, Croatia Bibliographical note Accepted Author Manuscript Part of collection Institutional Repository Document type conference paper Rights © 2018 Dhruv Jagga, Maolong Lv, S. Baldi Files PDF main3_final.pdf 872.58 KB Close viewer /islandora/object/uuid:a29a19ac-cd85-4f69-8d41-a53004dc0ff2/datastream/OBJ/view