Coordinated and Reconfigurable Vehicle Dynamics Control

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 re...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on control systems technology 2009-05, Vol.17 (3), p.723-732
Main Authors: Junmin Wang, Longoria, R.G.
Format: Article
Language:English
Subjects:
Acceleration
Actuator failure
Applied sciences
Automotive components
Computational modeling
Computer science
control theory
systems
Control allocation
Control system synthesis
Control systems
Control theory. Systems
Convergence
coordinated control
Dynamic control
Dynamical systems
Exact sciences and technology
Force control
Machine components
Mechanical engineering. Machine design
Nonlinear control systems
Page description languages
reconfigurable control
Slip
Springs and dampers
Tires
Vehicle dynamics
vehicle dynamics control
Vehicles
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2008.2002264