LTV-MPC for yaw rate control and side slip control with dynamically constrained differential braking | IEEE Conference Publication | IEEE Xplore

LTV-MPC for yaw rate control and side slip control with dynamically constrained differential braking


Abstract:

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 t...Show More

Abstract:

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.
Date of Conference: 23-26 August 2009
Date Added to IEEE Xplore: 02 April 2015
Print ISBN:978-3-9524173-9-3
Conference Location: Budapest, Hungary

References

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