Coordinated vehicle dynamics control with control distribution

This paper investigates a hierarchically coordinated vehicle dynamics control approach with individual wheel torque and steering actuation. A high-level robust nonlinear sliding mode controller is designed to determine the generalized forces/moments required to achieve vehicle motion objectives. A w...

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Bibliographic Details
Main Authors: Junmin Wang, Longoria, R.G.
Format: Conference Proceeding
Language:English
Subjects:
Distributed computing
Force control
Motion control
Robust control
Sliding mode control
Torque control
Vehicle dynamics
Vehicles
Weight control
Wheels
Online Access:Request full text
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Summary:This paper investigates a hierarchically coordinated vehicle dynamics control approach with individual wheel torque and steering actuation. A high-level robust nonlinear sliding mode controller is designed to determine the generalized forces/moments required to achieve vehicle motion objectives. A weighted pseudo-inverse based control allocation method is employed for computationally efficient distribution of control effort to the slip and slip angle of each wheel. To avoid saturation, tire-road friction estimation is an essential part of the control distribution scheme. Two adverse driving scenario simulations are used to evaluate the effectiveness of this control system
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2006.1657573