Model Predictive Control for Vehicle Stabilization at the Limits of Handling

Beal, Craig E.; Gerdes, J. Christian

doi:10.1109/tcst.2012.2200826

Cited by 380 publications

(193 citation statements)

References 9 publications

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“…Both methods show to be successful in the range of operation for which the controller is designed, but the behaviour for other conditions is not discussed. In [17] this problem is recognised. As a solution not the steering wheel angle, but the front tyre force is considered as input.…”

Section: Introductionmentioning

confidence: 99%

“…Besides the dependency of forward velocity, the tyres behave nonlinear in limit handling situations, which could influence the yaw stability of the vehicle. This nonlinear tyre behaviour was dealt with in [17] using model predictive control, which computationally expensive. In this paper the problem of the nonlinear tyre behaviour is recognised, it is therefore required that the controller accounts for possible variations in the tyre behaviour.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A robust control analysis for a steer-by-wire vehicle with uncertainty on the tyre forces

Sande

Zegelaar

Besselink

et al. 2016

Vehicle System Dynamics

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This paper proposes guidelines for controller design for steer-by-wire vehicles. The proposed controller removes the velocity dependency of the vehicle dynamics and accounts for the nonlinear characteristics of the lateral tyre force. Using an H ∞ approach, bounds on the closed loop sensitivity are presented, which results in guidelines for the controller design. Using the designed controller, simulations using a multi-body model show that the yaw dynamics of the vehicle are stabilised for extreme manoeuvres. ARTICLE HISTORY

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A robust control analysis for a steer-by-wire vehicle with uncertainty on the tyre forces

Sande

Zegelaar

Besselink

et al. 2016

Vehicle System Dynamics

View full text Add to dashboard Cite

show abstract

“…In another method the uncertain effects of the driver were also considered, see Carvalho et al 2013. A control method in which there was a large operating region accessible by the driver and smooth interventions at the stability boundaries was proposed by Kritayakirana & Gerdes 2012, Beal & Gerdes 2013 Our preliminary results of the set-based analysis were presented in Németh & Gáspár 2013, Németh et al 2014. The previous analysis proposes the maximum Controlled Invariant Sets of the vehicle with differential braking and steering actuators.…”

Section: Introductionmentioning

confidence: 99%

Experimental evaluation of unknown input observers for tire model parameter estimation

Tafner

Reichhartinger

Horn

2016

The Dynamics of Vehicles on Roads and Tracks

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The paper analyzes the maximum robust Controlled Invariant Sets of lateral vehicle dynamical actuators. In the analysis the nonlinear polynomial Sum-of-Squares (SOS) programming method is applied. It considers the nonlinear characteristics of the lateral tire force with a polynomial approximation. Since the tire force characteristics depend on several conditions (e.g. vertical loads, road frictions), their effects occur in the modeling as uncertainties. Parametric uncertainties of the tire model are considered in the robust stability of vehicle dynamics. The maximum robust Controlled Invariant Sets approximate the regions of the tire side-slip angles in which the vehicle can be robustly stabilized by constrained control inputs. As an example the maximum robust Controlled Invariant Sets of the steering and the brake control systems are estimated at various velocities and road conditions. The results of the analysis concerning the steering and the brake control will be illustrated through simulation examples.

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“…In another method the uncertain effects of the driver were also considered, see [3]. A large operating region accessible by the driver and smooth interventions at the stability boundaries were proposed by [4], [5]. A reachable set-based analysis was presented to illustrate the benefits of steering and suspension controller integration in [6].…”

Section: Introductionmentioning

confidence: 99%

Analysis and control of nonlinear actuator dynamics based on the sum of squares programming method

Németh

Gáspár

2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Abstract-The paper analyses the reachability characteristics of the brake system in order to determine its abilities for the entire vehicle system. The method is based on the nonlinear polynomial Sum-of-Squares programming method, in which the shape of the reachable set of the brake is calculated. Since the method can be applied to other actuators, a theory-based structure can be built for the coordination and reconfiguration of the actuators. The method is illustrated at various velocities and road conditions.

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Model Predictive Control for Vehicle Stabilization at the Limits of Handling

Cited by 380 publications

References 9 publications

A robust control analysis for a steer-by-wire vehicle with uncertainty on the tyre forces

A robust control analysis for a steer-by-wire vehicle with uncertainty on the tyre forces

Experimental evaluation of unknown input observers for tire model parameter estimation

Analysis and control of nonlinear actuator dynamics based on the sum of squares programming method

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