Coordinated and Reconfigurable Vehicle Dynamics Control
- 27 March 2009
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Control Systems Technology
- Vol. 17 (3), 723-732
- https://doi.org/10.1109/tcst.2008.2002264
Abstract
A coordinated reconfigurable vehicle dynamics control (CRVDC) system is achieved by high-level control of generalized forces/moment, distributed to the slip and slip angle of each tire by an innovative control allocation (CA) scheme. Utilizing control of individual tire slip and slip angles helps resolve the inherent tire force nonlinear constraints that otherwise may make the system more complex and computationally expensive. This in turn enables a real-time adaptable, computationally efficient accelerated fixed-point (AFP) method to improve the CA convergence rate when actuation saturates. Evaluation of the overall system is accomplished by simulation testing with a full-vehicle CarSim model under various adverse driving conditions, including scenarios where vehicle actuator failures occur. Comparison with several other vehicle control system approaches shows how the system operational envelope for CRVDC is significantly expanded in terms of vehicle global trajectory and planar motion responses.Keywords
This publication has 22 references indexed in Scilit:
- Friction Estimation on Highway Vehicles Using Longitudinal MeasurementsJournal of Dynamic Systems, Measurement, and Control, 2004
- The Use of GPS for Vehicle Stability Control SystemsIEEE Transactions on Industrial Electronics, 2004
- GPS-based real-time identification of tire-road friction coefficientIEEE Transactions on Control Systems Technology, 2002
- Evaluation of Optimization Methods for Control AllocationJournal of Guidance, Control, and Dynamics, 2002
- Two Reconfigurable Flight-Control Design Methods: Robust Servomechanism and Control AllocationJournal of Guidance, Control, and Dynamics, 2001
- Improvement of vehicle handling by nonlinear integrated control of four wheel steering and four wheel torqueJSAE Review, 1999
- Ultra-reliable real-time control systems-future trendsIEEE Aerospace and Electronic Systems Magazine, 1999
- Constrained tracking control of nonlinear systemsSystems & Control Letters, 1996
- THE MAGIC FORMULA TYRE MODELVehicle System Dynamics, 1992
- A Review of Four-Wheel Steering Studies from the Viewpoint of Vehicle Dynamics and ControlVehicle System Dynamics, 1989