Parameter Optimization of PID Class of Yaw Rate Controllers
CD Proc. of UKACC Int. Conf. on CONTROL 2010, Coventry, UK2010The paper presents parameter optimization of a PID class of vehicle yaw rate controllers based on a linearized ²bicycle²-type vehicle dynamics model. Two complementary optimization techniques are used: (i) analytical design based on the damping optimum criterion, and (ii) numerical parameter optimization. The damping optimum method is applied for the full second-order lead-lag vehicle model and a simplified first-order lag model. Different optimization approaches and PID controller types are verified and compared by computer simulations for different actuator bandwidths and vehicle velocities. A comparative numerical analysis on the control system sensitivity with respect to measurement noise and process parameter variations is also presented. yaw rate control; PID controller; parameter optimization; damping optimum; sensitivity analysis
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Data-driven design of model-free control for reference model tracking based on an ultra-local model: Application to vehicle yaw rate control🔗
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CD Proc. of UKACC Int. Conf. on CONTROL 2010, Coventry, UK
2010
Cited by 5
▾
-
[1] Data-driven design of model-free control for reference model tracking based on an ultra-local model: Application to vehicle yaw rate control🔗Proceedings of the Institution of mechanical engineers. Part D, journal of automobile engineering, 2024
-
[2] Intelligent PI control based on the ultra-local model and Kalman filter for vehicle yaw-rate control🔗SICE Journal of Control Measurement and System Integration, 2023
-
[3] Effect of Vertical Dynamics on Vehicle's Lateral Stability Control System🔗2019 IEEE Intelligent Vehicles Symposium (IV), 2019