@ARTICLE{10.21494/ISTE.OP.2018.0281, 

TITLE={Hierarchical approach for Global Chassis Control}, 
  
AUTHOR={Emna Hamrouni, Jean-Louis Bouvin, Xavier Moreau, André Benine-Neto, Vincent Hernette, Pascal Serrier, Alain Oustaloup, }, 
	
JOURNAL={Control}, 
	
VOLUME={2}, 

NUMBER={Issue 1}, 
	
YEAR={2018}, 

URL={https://openscience.fr/Hierarchical-approach-for-Global-Chassis-Control}, 
	
DOI={10.21494/ISTE.OP.2018.0281}, 
	
ISSN={2631-4924}, 
	
ABSTRACT={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.}}