Control allocation in ground vehicles

Integration of vehicle yaw stabilisation and rollover prevention through nonlinear hierarchical control allocation

“…[16] Yaw stabilising control is thus a natural application for the control allocation theory and has been successfully realised. [18,25,26] Similar approaches that use control allocation to coordinate the actuation for integrated vehicle dynamics control systems have been studied by Andreasson and Bünte, [27] Acarman, [28] and Tagesson et al [29] A control allocation approach for rollover prevention without yaw stabilisation is presented by Johansson and Gräfvert. [30] Possible benefits for electric vehicles are discussed by Chen and Wang.…”

Torque blending and wheel slip control in EVs with in-wheel motors

“…This assignment is performed in a second step, after discretising the SC, using a torque distribution strategy based on the CA concept, see for example, [11,12,37]. As primary objective, the CA must ensure that the requested torque, T w , is produced by the braking devices, that is, (34) complying, at the same time, with the range and variation rate limits, defined in (4).…”

“…field weakening in the electric motor), and performance metrics, such as energy efficiency and braking actuation bandwidth. This distribution is performed by a control allocation (CA) approach [11,12] and is formulated as an optimisation problem, solved using an efficient numeric solver, suitable for realtime implementation. With this design approach, we can decouple the slip regulation problem and the torque allocation one, and benefit from the full capabilities of the braking devices.…”

Adaptive optimal control allocation using Lagrangian neural networks for stability control of a 4WS–4WD electric vehicle

“…Wang and Longoria (2009) have proposed a numerical optimization method called the accelerated fixed-point algorithm to solve the control allocation problem in which tyre slip and slip angles are chosen as allocation variables instead of tyre forces to simplify the optimization problem and to avoid the non-linear friction circle limitation of tyre forces. Plumlee et al (2006) have studied a quadratic programming-based control allocation for distribution of front/rear-wheel steering angles and longitudinal tyre forces. Zhao and Zhang (2009) have used sequential dynamic programming approach for distribution of longitudinal tyre forces in a wheel-motored electric vehicle.…”