Abstract
Many of the current research works are focused on the development of different control systems for commercial vehicles in order to reduce the incidence of risky driving situations, while also improving stability and comfort. Some works are focused on developing low-cost embedded systems with enough accuracy, reliability, and processing time. Previous research works have analyzed the integration of low-cost sensors in vehicles. These works demonstrated the feasibility of using these systems, although they indicate that this type of low-cost kit could present relevant delays and noise that must be compensated to improve the performance of the device. For this purpose, it is necessary design controllers for systems with input and output delays. The novelty of this work is the development of an LMI-Based H output-feedback controller that takes into account the effect of delays in the network, both on the sensor side and the actuator side, on RSC (Roll Stability Control) systems. The controller is based on an active suspension with input and output delays, where the anti-roll moment is used as a control input and the roll rate as measured data, both with delays. This controller was compared with a controller system with a no-delay consideration that was experiencing similar delays. The comparison was made through simulation tests with a validated vehicle on the TruckSim® software.
Highlights
Many of the current research works are focused on the development of different control systems for commercial vehicles in order to significantly reduce the incidence of dangerous driving situations and improve vehicle stability and comfort
In yellow is a simulated scenario with a delay of τ = 0.1 s applied using an H∞ controller that did not take into account the delay in its design
The novelty of this paper is the development of an LMI-based H∞ output-feedback controller that compensates for the input and output delays in a Roll Stability Control (RSC) system
Summary
Many of the current research works are focused on the development of different control systems for commercial vehicles in order to significantly reduce the incidence of dangerous driving situations and improve vehicle stability and comfort. The analysis and design of the controller focused on its implementation in embedded systems in vehicular applications is the subject of study in other works [10,11,12] These controllers require all the main values of vehicle dynamics such as angular positions, accelerations, and angular rates [13,14,15,16]. Vehicles have communication networks that connect their components, such as sensors, controllers, and actuators, which generate delays in sending data between these components These delays can compromise the accuracy of the calculation of system variables or lengthen the actuation of the controllers, which may cause dangerous situations in real-time security applications. This controller is designed for automotive applications based on low-cost systems such as those presented in [17,19,20] This controller was implemented in a simulation environment using a validated vehicle model with TruckSim®.
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