Adaptive integrated vehicle control using active front steering and rear torque vectoring

Abstract

This work studies the combination of active front steering with rear torque vectoring actuators in an integrated controller to guarantee vehicle stability. Adaptive feedback technique has been used to design the controller. The feedback linearization is applied to cancel the nonlinearities in the input-output dynamics of the vehicle. Parameter adaptation then is used to robustify the exact cancellation of the nonlinear terms. The results show tracking and stabilization capabilities when important parameters, like tire stiffness and tire characteristics, are affected by estimation errors.

An integrated active nonlinear controller for wheeled vehicles

“…Indeed, this is a designer degree of freedom. Although other reference generators can be considered, following for instance [1] we consider the references given as the behavior of an "ideal" or "reference" (this motivates the subindex "r") vehicle. This ideal vehicle can be determined as a copy of the model (3) without the longitudinal and roll dynamics (ideal "decoupled" behavior), and without active controls (i.e.…”

“…In [21], a yaw stabilizing algorithm is presented, combining AFS with a low level control of the longitudinal wheel slip, with an adaptive law estimating the maximal tire-road friction parameter for each wheel. In [1], AFS and RTV are combined in an integrated controller to guarantee vehicle stability, making use of an adaptive feedback.…”

Active ground vehicle control with use of a super-twisting algorithm in the presence of parameter variations

“…A classical control problem is to determine ∆ c , M z so that the following tracking errors [6], [8] To generate these signals, it is possible to introduce the dynamics of a "reference vehicle", with v…”

“…More precisely, in this work it is proposed a second order sliding mode algorithm, the well-known Super-Twisting (ST) algorithm, for tracking a reference trajectory in the presence of parameter variations. In [22], [6], [8] an estimation of the product between the tireroad friction coefficient and the tire stiffness coefficient was proposed. In this paper we consider this parameter estimated, and we want to estimate the perturbing terms arising from the variation of the remaining parameters, namely those appearing in the tire model and the vehicle's mass and inertia.…”

Control of Yaw Disturbance Using Fuzzy Logic Based Yaw Stability Controller

“…A proportional integral and derivative (PID) control system is developed for yaw stability control based on road wheel steer angel as control input. Bianchi et al proposed an adaptive integrated control system using active front steering and rear torque vectoring [8]. Arabi and Behroozi proposed an integrated vehicle dynamics control system based on the combination of active front steering (AFS) and active rear differential (ARD) for yaw rate stability 2 International Journal of Vehicular Technology of the vehicle [9].…”