TY  - Type of reference 
TI  - Hierarchical approach for Global Chassis Control 
AU  - Emna Hamrouni 
AU  - Jean-Louis Bouvin 
AU  - Xavier Moreau 
AU  - André Benine-Neto 
AU  - Vincent Hernette 
AU  - Pascal Serrier 
AU  - Alain Oustaloup 
AB  - In a context of Connected Autonomous Vehicle (CAV), this paper proposes a generic hierarchical architecture for Global Chassis Control (GCC). The four levels of this architecture, namely : the Supervisor, the Global Control, the Allocation and the Local Control, are detailed. In a second part, an example whose objective is to illustrate the design process of such a hierarchical architecture is presented. For didactic reasons, and without that it doesn’t harm the general approach, the field of
study of this example is summed up to a braking situation in a straight line on dry, smooth and horizontal road, the objective being to hold the chassis under driving sollicitations in the operating field associated with comfort. A Robust Command Frequency Synthesis (RCFS) based on the CRONE control is applied for global and local control. The comparison of the simulated time
performances using a model with 14 degrees of freedom of the device in both active and in degraded mode clearly highlights the interest of the proposed approach. 
DO  - 10.21494/ISTE.OP.2018.0281 
JF  - Control 
KW  - Control,  robust controller,  vehicle dynamics,  hierarchical approach,  suspension,  CRONE,  ADAS,  Global Chassis Control,  comfort, Commande,  régulateur robuste,  dynamique du véhicule,  approche hiérarchisée,  suspension,  CRONE,  ADAS,  Contrôle Global du Châssis,  confort,  
L1  - https://www.openscience.fr/IMG/pdf/iste_auto18v2n1_4.pdf 
LA  - en 
PB  - ISTE OpenScience 
DA  - 2018/08/28 
SN  - 2631-4924 
TT  - Approche hiérarchisée pour le Contrôle Global du Châssis 
UR  - https://www.openscience.fr/Hierarchical-approach-for-Global-Chassis-Control 
IS  - Issue 1 
VL  - 2 
ER  -