Real-time allocation of tire adhesion forces for electric vehicles

Distributed feedforward control of vehicle dynamics based on event-triggered optimization

“…The parametrization of the maneuver scenario is taken from [1] The subgradient method is used with the step size α = 0.1/ √ k, and 20 alternating projection iterations. We applied same initial conditions for subgradient method as in [6]. The triggering parameters are set to β 1 = 0.3, and β 2 = 0.0002 for tunning the broadcasting condition of η i , F ix and F iy .…”

“…As already stated, this work presents an extension to the authors' previous work [6], where a fully distributed computational algorithm for optimal allocation of tire forces to minimize the maximal adhesion utilization of vehicle tires. In this section, we first review the problem formulation and its decomposition, and then introduce the event-triggered layer into the feedforward control scheme.…”

“…The problem setting (11) reveals the local nature of the variables F ix , F iy and η i that have to be exchanged between the agents. In [6] a fully distributed feedforward optimization algorithm in these regards has been proposed. Here, we extend that approach by adding an event-triggered layer in order to minimize the number of agent's broadcasts.…”

“…ZigBee-IEEE 802.15.Moreover, our work implies the need for adaptive scheduling algorithms at the TDMA protocol level (not dicussed here!). Finally, the adopted event-triggered strategy provides hints into the behavior of the algorithm presented in [6] under packet losses.…”

“…In the context of vehicle dynamics, the authors have introduced in [6] a fully distributed feedforward algorithm for minimizing the maximal adhesion potential for electrical cars equipped with single-actuated powertrains which involve independent steering and driving/braking actuators at each vehicle wheel. In other words, our approach has been motivated by the picture of the vehicle as being driven by a network of "intelligent" wheel-nodes, each equipped with a steering and a driving actuator, in addition to the computation and communication devices.…”