Yaw rate and sideslip control using h-infinity-pid controller during automated lane change manoeuver

Zainal, Zainab (2021) Yaw rate and sideslip control using h-infinity-pid controller during automated lane change manoeuver. Doctoral thesis, Universiti Sains Malaysia.

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Abstract

The classical PID controller is widely used in industrial control system applications. Despite uses only a simple feedback control loop in the method, it was found that tuning its parameters and controller gains can be difficult, especially in the vehicle control application that is shown to be more complex and time-consuming. This research aims to propose a simple PID tuning algorithm and to investigate the possibility of utilising H¥ synthesis during the automated LC manoeuvre by initiating the estimated steering wheel angle of the driver’s model at a constant speed of 80 km=h. Two tuning algorithms were proposed; First, using stabilised boundary locus of KpKi value and Ziegler-Nichols (Z-N) tuning rules; Second, the extended version of the first algorithm hybrid with H¥ and Chein rules. Using single-input-two-outputs (SITO) plant of front-wheel-steering (FWS) lateral vehicle model, the yaw rate, y˙ and sideslip, b, both are being controlled using two PID configurations; Single-PID and Dual-PID. The performance between the MATLAB auto-tuned PID, and the proposed PID tuning method was compared. The H¥PID controller performed better than the MATLAB auto-tuned PID, especially for Single-PID configuration resulted in only 1.71% error in final lateral displacement. It reduced about 0.58% error of Single-PID controller without the H¥ synthesis. However, for Dual-PID configuration, it performs only 55% in reference tracking. In conclusion, this research has made innovative contributions to the newly proposed simpler PID tuning method. It is worth mentioning that there is little information about studies of Dual-H¥PID tuning, and this research could become a reference for new studies on this topic.

Item Type:	Thesis (Doctoral)
Subjects:	T Technology > T Technology (General)
Depositing User:	Mrs. Sabarina Che Mat
Date Deposited:	13 May 2024 06:52
Last Modified:	13 May 2024 06:52
URI:	http://eprints.uthm.edu.my/id/eprint/10775

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