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

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 m...

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Main Author:	Zainal, Zainab
Format:	Thesis
Language:	English
Published:	2021
Subjects:	T Technology (General)
Online Access:	http://eprints.uthm.edu.my/10775/1/24p%20ZAINAB%20ZAINAL.pdf
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id	my-uthm-ep.10775
record_format	uketd_dc
spelling	my-uthm-ep.107752024-05-13T06:52:04Z Yaw rate and sideslip control using h-infinity-pid controller during automated lane change manoeuver 2021-09 Zainal, Zainab T Technology (General) 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. 2021-09 Thesis http://eprints.uthm.edu.my/10775/ http://eprints.uthm.edu.my/10775/1/24p%20ZAINAB%20ZAINAL.pdf text en public phd doctoral Universiti Sains Malaysia School of Electrical and Electronic Engineering
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English
topic	T Technology (General)
spellingShingle	T Technology (General) Zainal, Zainab Yaw rate and sideslip control using h-infinity-pid controller during automated lane change manoeuver
description	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.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Zainal, Zainab
author_facet	Zainal, Zainab
author_sort	Zainal, Zainab
title	Yaw rate and sideslip control using h-infinity-pid controller during automated lane change manoeuver
title_short	Yaw rate and sideslip control using h-infinity-pid controller during automated lane change manoeuver
title_full	Yaw rate and sideslip control using h-infinity-pid controller during automated lane change manoeuver
title_fullStr	Yaw rate and sideslip control using h-infinity-pid controller during automated lane change manoeuver
title_full_unstemmed	Yaw rate and sideslip control using h-infinity-pid controller during automated lane change manoeuver
title_sort	yaw rate and sideslip control using h-infinity-pid controller during automated lane change manoeuver
granting_institution	Universiti Sains Malaysia
granting_department	School of Electrical and Electronic Engineering
publishDate	2021
url	http://eprints.uthm.edu.my/10775/1/24p%20ZAINAB%20ZAINAL.pdf
_version_	1804890111019581440

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

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