State Feedback Control Based on Regional Pole Placement on Handling Stability of Ground Vehicles

Naisi Zhang; Yutian Zhang; Hanqing Tian; Yunxiao Li; Jibin Hu

doi:10.1109/ACCESS.2019.2952741

State Feedback Control Based on Regional Pole Placement on Handling Stability of Ground Vehicles

Naisi Zhang
, Yutian Zhang
, Hanqing Tian
, Yunxiao Li
, Jibin Hu^*

^*Corresponding author for this work

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

5 Citations (Scopus)

Abstract

A controller based on regional pole placement for the handling stability of an intelligent ground vehicle is proposed in this paper. The 2 degree-of-freedom model for the vehicle was applied to analysis the uncertainty generated by the tires and model of the vehicle. Another parameter that must be considered is the change in the vehicle's speed. A polytope with finite vertices was applied for the uncertainty generated by the vehicle's speed in the model. The linear matrix inequality (LMI) method was used to solve the gain of the controller's matrix. Simulations were also used to verify the performance of the proposed controller. The simulation results prove that the controller can improve the vehicle's handling stability against the uncertainty generated by the parameters.

Original language	English
Article number	8895831
Pages (from-to)	165411-165419
Number of pages	9
Journal	IEEE Access
Volume	7
DOIs	https://doi.org/10.1109/ACCESS.2019.2952741
Publication status	Published - 2019
Externally published	Yes

Keywords

D-stability
Pole placement
state-feedback

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10.1109/ACCESS.2019.2952741

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title = "State Feedback Control Based on Regional Pole Placement on Handling Stability of Ground Vehicles",

abstract = "A controller based on regional pole placement for the handling stability of an intelligent ground vehicle is proposed in this paper. The 2 degree-of-freedom model for the vehicle was applied to analysis the uncertainty generated by the tires and model of the vehicle. Another parameter that must be considered is the change in the vehicle's speed. A polytope with finite vertices was applied for the uncertainty generated by the vehicle's speed in the model. The linear matrix inequality (LMI) method was used to solve the gain of the controller's matrix. Simulations were also used to verify the performance of the proposed controller. The simulation results prove that the controller can improve the vehicle's handling stability against the uncertainty generated by the parameters.",

keywords = "D-stability, Pole placement, state-feedback",

author = "Naisi Zhang and Yutian Zhang and Hanqing Tian and Yunxiao Li and Jibin Hu",

note = "Publisher Copyright: {\textcopyright} 2013 IEEE.",

year = "2019",

doi = "10.1109/ACCESS.2019.2952741",

language = "English",

volume = "7",

pages = "165411--165419",

journal = "IEEE Access",

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T1 - State Feedback Control Based on Regional Pole Placement on Handling Stability of Ground Vehicles

AU - Zhang, Naisi

AU - Zhang, Yutian

AU - Tian, Hanqing

AU - Li, Yunxiao

AU - Hu, Jibin

PY - 2019

Y1 - 2019

N2 - A controller based on regional pole placement for the handling stability of an intelligent ground vehicle is proposed in this paper. The 2 degree-of-freedom model for the vehicle was applied to analysis the uncertainty generated by the tires and model of the vehicle. Another parameter that must be considered is the change in the vehicle's speed. A polytope with finite vertices was applied for the uncertainty generated by the vehicle's speed in the model. The linear matrix inequality (LMI) method was used to solve the gain of the controller's matrix. Simulations were also used to verify the performance of the proposed controller. The simulation results prove that the controller can improve the vehicle's handling stability against the uncertainty generated by the parameters.

AB - A controller based on regional pole placement for the handling stability of an intelligent ground vehicle is proposed in this paper. The 2 degree-of-freedom model for the vehicle was applied to analysis the uncertainty generated by the tires and model of the vehicle. Another parameter that must be considered is the change in the vehicle's speed. A polytope with finite vertices was applied for the uncertainty generated by the vehicle's speed in the model. The linear matrix inequality (LMI) method was used to solve the gain of the controller's matrix. Simulations were also used to verify the performance of the proposed controller. The simulation results prove that the controller can improve the vehicle's handling stability against the uncertainty generated by the parameters.

KW - D-stability

KW - Pole placement

KW - state-feedback

UR - https://www.scopus.com/pages/publications/85077619151

U2 - 10.1109/ACCESS.2019.2952741

DO - 10.1109/ACCESS.2019.2952741

M3 - Article

AN - SCOPUS:85077619151

SN - 2169-3536

VL - 7

SP - 165411

EP - 165419

JO - IEEE Access

JF - IEEE Access

M1 - 8895831

ER -

State Feedback Control Based on Regional Pole Placement on Handling Stability of Ground Vehicles

Abstract

Keywords

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