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

被引：43
|
作者：
Barbarisi, Osvaldo [1 ]
Palmieri, Giovanni [1 ]
Scala, Stefano [2 ]
Glielmo, Luigi [1 ]
机构：
[1] Univ Sannio, Dipartimento Ingn, I-82100 Benevento, Italy
[2] ELASIS SCpA, I-80038 Pomigliano Darco, NA, Italy
来源：
EUROPEAN JOURNAL OF CONTROL | 2009年 / 15卷 / 3-4期
关键词：
Vehicle Dynamics Control; Model Predictive Control; VEHICLE STABILITY CONTROL;
D O I：
10.3166/EJC.15.468-479
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：468 / 479
页数：12
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