Combined Tire Slip and Slip Angle Tracking Control for Advanced Vehicle Dynamics Control Systems

This paper describes a combined tire longitudinal slip and lateral slip angle tracking control approach as part of an overall advanced vehicle dynamics control system. Nonlinear sliding mode control is used to manipulate the driving/braking/steering of each wheel to track slip and slip angles specif...

Full description

Saved in:
Bibliographic Details
Main Authors: Junmin Wang, Longoria, R.G.
Format: Conference Proceeding
Language:English
Subjects:
Control design
Control system synthesis
Control systems
Force control
Sliding mode control
State estimation
Tires
Vehicle dynamics
Vehicles
Wheels
Citations: Items that cite this one
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper describes a combined tire longitudinal slip and lateral slip angle tracking control approach as part of an overall advanced vehicle dynamics control system. Nonlinear sliding mode control is used to manipulate the driving/braking/steering of each wheel to track slip and slip angles specified by a higher-level controller and a control allocation algorithm. Controlling slip and slip angles, which depend on individual wheel and vehicle dynamic states, relies on a tire model to estimate the induced tire longitudinal and lateral forces as well as self-aligning moment. Further, vehicle body states are treated here as exogenous signals independent of the slip/slip angle controller in order to isolate and simplify the control design. The performance of this control approach is evaluated and compared against results for conventional vehicle control systems in a full-vehicle CarSimreg model simulation. Improved performance is observed under an adverse split-mu hard braking scenario
ISSN:0191-2216
DOI:10.1109/CDC.2006.377610