An intelligent vehicle must face a wide variety of situations ranging from safe and comfortable to more aggressive ones. Smooth maneuvers are adequately addressed by means of linear control, whereas more aggressive maneuvers are tackled by nonlinear techniques. Likewise, there exist intermediate scenarios where the required responses are smooth but constrained in some way (rise time, settling time, overshoot). Due to the existence of the fundamental linear limitations, which impose restrictions on the attainable time-domain and frequency-domain performance, linear systems cannot provide smoothness while operating in compliance with the previous restrictions. For this reason, this article aims to explore the effects of reset control on the alleviation of these limitations for a lane change maneuver under a set of demanding design conditions to guarantee a suitable ride quality and a swift response. To this end, several reset strategies are considered, determining the best reset condition to apply as well as the magnitude thereto. Concerning the reset condition that triggers the reset action, three strategies are considered: zero crossing of the controller input, fixed reset band and variable reset band. As far as the magnitude of the reset action is concerned, a full-reset technique is compared to a Lyapunov-based error minimization method to calculate the optimal reset percentage. The base linear controller subject to the reset action is searched via genetic algorithms. The proposed controllers are validated by means of CarSim.

Resumen El uso de sistemas de frenado ABS es muy común en los coches actuales, pero la aplicación de nuevas técnicas de control sobre estos sistemas puede permitir mejorar su eficiencia, consiguiendo una distancia de frenado menor y limitando los valores de deslizamiento elevados. El objetivo de este trabajo es estudiar el modelo dinámico de la planta experimental Inteco ABS y realizar una tarea de identificación de la misma. También se estudia la implementación de un controlador reseteado para el control del deslizamiento de la planta que permite mejorar las prestaciones del sistema. Con este tipo de control se consigue teóricamente un menor transitorio y oscilación y una mayor robustez ante incertidumbres como puede ser