LTV-MPC for Yaw Rate Control and Side Slip Control with Dynamically Constrained Differential Braking

In this paper a novel vehicle lateral dynamic control approach is presented. A differential braking control law based on vehicle planar motion has been designed using a two-degrees-of-freedom vehicle model. On the basis of the estimate of tire longitudinal forces we estimate the range of lateral for...

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Bibliographic Details
Published in:European journal of control 2009, Vol.15 (3-4), p.468-479
Main Authors: Barbarisi, Osvaldo, Palmieri, Giovanni, Scala, Stefano, Glielmo, Luigi
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control system synthesis
Control theory. Systems
Drives
Exact sciences and technology
Mechanical engineering. Machine design
Model Predictive Control
Predictive control
Shafts, couplings, clutches, brakes
Vehicle Dynamics Control
Vehicles
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Summary:In this paper a novel vehicle lateral dynamic control approach is presented. A differential braking control law based on vehicle planar motion has been designed using a two-degrees-of-freedom vehicle model. On the basis of the estimate of tire longitudinal forces we estimate the range of lateral forces which the tire can exert. Using this constraints a model predictive control (MPC) based on a two-track model is designed in order to stabilize the vehicle. The performances are estimated comparing the results with standard manoeuvers. Simulation results show the benefits of the control methodology used: in particular we show how very effective distribution of braking torque are obtained as a result of this feedback policy.
ISSN:0947-3580
1435-5671
DOI:10.3166/ejc.15.468-479