Tracking controller design of a sideslip angle and yaw rate for electrical vehicle bicycle model

Frendi, S.; Mellah, Rabah; Seddiki, Lynda; Akdag, Herman

doi:10.1016/j.ifacol.2016.07.108

Cited by 10 publications

(5 citation statements)

References 13 publications

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“…The plane motion of the vehicle is mainly considered as lateral, longitudinal and yaw motion. The vehicle is set as front-wheel drive and front-wheel steering, and the vehicle model is selected as a three-degree-of-freedom bicycle model [32]. In the plane rectangular coordinate system, the vehicle model is shown in Figure 1.…”

Section: Bicycle Modelmentioning

confidence: 99%

“…Actuators 2021, 10, 242 4 of 27 model is selected as a three-degree-of-freedom bicycle model [32]. In the plane rectangular coordinate system, the vehicle model is shown in Figure 1.…”

Section: Bicycle Modelmentioning

confidence: 99%

“…The force received by the front and rear tires in the x and y directions is related to the longitudinal force and lateral force received by the front and rear tires. The relationship is as follows [32]: cos sin cos sin sin cos sin cos…”

Section: Bicycle Modelmentioning

confidence: 99%

“…Among them, the side slip angle of the tire is related to the longitudinal speed and the lateral speed, as shown in Equation ( 6) [32]: According to Newton's second law, the force balance equations along the x-axis, y-axis and z-axis can be obtained.…”

Section: Bicycle Modelmentioning

confidence: 99%

“…Among them, the side slip angle of the tire is related to the longitudinal speed and the lateral speed, as shown in Equation (6) [32]:…”

Section: Bicycle Modelmentioning

confidence: 99%

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Path Tracking Control of Autonomous Vehicle Based on Nonlinear Tire Model

Lin

Sun

et al. 2021

Actuators

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The tire forces of vehicles will fall into the non-linear region under extreme handling conditions, which cause poor path tracking performance. In this paper, a model predictive controller based on a nonlinear tire model is designed. The tire forces are characterized with nonlinear composite functions of the magic formula instead of a simple linear relation model. Taylor expansion is used to linearize the controller, the first-order difference quotient method is used for discretization, and the partial derivative of the composite function is used for matrix transformation. Constant velocity and variable velocity conditions are selected to compare the designed controller with the conventional controller in Carsim/Simulink. The results show that when the tire forces fall in the nonlinear region, two controllers have good stability, and the tracking accuracy of the controller designed in this paper is slightly better. However, after the tire forces become nonlinear, the controller with linear tire force becomes worse, the tracking accuracy is far worse than the controller with the nonlinear tire model, and the vehicle stability is also degraded. In addition, an active steering test platform based on LabVIEW-RT is established, and hardware-in-the-loop tests are carried out. The effectiveness of the designed controller is verified.

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Section: Bicycle Modelmentioning

confidence: 99%

“…Actuators 2021, 10, 242 4 of 27 model is selected as a three-degree-of-freedom bicycle model [32]. In the plane rectangular coordinate system, the vehicle model is shown in Figure 1.…”

Section: Bicycle Modelmentioning

confidence: 99%

Section: Bicycle Modelmentioning

confidence: 99%

Section: Bicycle Modelmentioning

confidence: 99%

“…Among them, the side slip angle of the tire is related to the longitudinal speed and the lateral speed, as shown in Equation (6) [32]:…”

Section: Bicycle Modelmentioning

confidence: 99%

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