An Active Front Steering System Design Considering the CAN Network Delay
Yanbo Lu, Jinhao Liang, Faan Wang, Guodong Yin, Dawei Pi, Jiwei Feng, Haoji Liu
Abstract
The x-by-wire technology promotes the rapid development of intelligent vehicles, but it comes with the network delays, which would deteriorate the control performance. Therefore, this article proposes an active front steering (AFS) design scheme considering the network delays to ensure the vehicle path-tracking accuracy and stability performance. First, the vehicle system with delays induced by the controller area network (CAN) is analyzed, based on which an augmented model is built to describe the vehicle motion combined with the random network delays. Considering the uncertainty of the delay, the model is reconstructed by the polytope method. Then, a robust <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">${H} _{\infty} $ </tex-math></inline-formula> state feedback controller is developed to ensure the system performance when handling the parametric uncertainties. Furthermore, the robust invariant set is introduced to depict the system constraints, which can guarantee the vehicle stability. Through transforming into the linear matrix inequalities, a feasible solution is calculated. Finally, the rapid control prototype (RCP) based on the CarSim/Simulink test platform is used to validate the proposed controller. The results compared with the model predictive control (MPC) show the effectiveness to ensure the prescribed performance.