Two degrees of freedom PID multi-controllers to design a mathematical driver model: experimental validation and robustness tests

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Two degrees of freedom PID multi-controllers to design a mathematical driver model: experimental validation and robustness tests

Menhour, Lghani / Lechner, Daniel / Charara, Ali

This study proposed a new mathematical driver model based on PID multi-controllers having two degrees of freedom: lateral deviation and yaw angle. Beyond the detailed presentation of the controller design and development, a large part is dedicated to its experimental validation. The results presented illustrate the following: the robustness and stability of this mathematical driver model regarding the strong nonlinearities and structured parametric uncertainties, even given high lateral accelerations and sideslip angles, when the tyres reach their physical limits. The positive experimental validation of the main dynamic parameters when the driver model is coupled with an LPV model and an NL4W model, respectively. The good performances in tracking: in the normal driving situation the errors on lateral deviation and on the yaw angle remain below 0.15 m and 0.7, respectively. Even in situations of high demand, these errors are less than 0.35 m, 3. The steering angle provided by the driver model is close to the measurements whatever the specificity of each particular site. The positive role of the anti-windup system is also amply demonstrated. The main objective of this research, i.e. to ensure an accurate tracking of the vehicle path order, without instability, is reached. In future studies, the focus will be put on the analysis of tracking deviations, resulting from intrinsic vehicle dynamic characteristics (understeer or oversteer), when the loss of control is imminent. The slope and bank angles will be also estimated, in order to take into account the geometry of the road and to make the reference trajectories more realistic.