On the Control Allocation for Coordinated Ground Vehicle Dynamics Control Systems

This paper presents a new control allocation scheme for advanced coordinated vehicle dynamics control (CVDC) that takes into account vehicle operating condition and tire-surface friction coefficient. Individual tire slip and slip angles are selected as the control variables to resolve the inherent t...

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Bibliographic Details
Main Authors: Jummin Wang, Solis, J.M., Longoria, R.G.
Format: Conference Proceeding
Language:English
Subjects:
Acceleration
Control allocation
Control systems
Convergence
Coordinated actuation
Fixed-point method
Force control
Friction
Land vehicles
Page description languages
Quadratic programming
Tires
Vehicle dynamics
Vehicle dynamics control
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Description
Summary:This paper presents a new control allocation scheme for advanced coordinated vehicle dynamics control (CVDC) that takes into account vehicle operating condition and tire-surface friction coefficient. Individual tire slip and slip angles are selected as the control variables to resolve the inherent tire force nonlinear constraints. A real-time adaptable accelerated fixed-point (AFP) method is proposed to solve the magnitude and rate constrained quadratic programming control allocation (CA) problem. It could achieve faster convergence rates when control variable saturations occur. The performance of this control allocation approach is evaluated for adverse driving conditions simulated using the CarSim reg vehicle simulation package.
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2007.4282308