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Using future path information for improving stability of an overactuated vehicle
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.
2009 (English)In: International Journal of Vehicle Systems Modelling and Testing, ISSN 1745-6436, Vol. 4, no 3, 218-231 p.Article in journal (Refereed) Published
Abstract [en]

In this paper, model predictive control (MPC) is applied for controlling an over-actuated vehicle. The control problem is associated with the distribution of the tyre forces to ensure vehicle stability. The use of MPC is shown to be a suitable method if the vehicle's future desired trajectory is known. Simulation studies conducted show that access to information in advance, even if such information is restricted to only a few seconds, significantly contributes to maintaining vehicle stability. Furthermore, a longer prediction horizon results in earlier actions and stabilises the vehicle even better.

Place, publisher, year, edition, pages
2009. Vol. 4, no 3, 218-231 p.
Keyword [en]
MPC; model predictive control; vehicle systems modelling; vehicle control; vehicle dynamics; over-actuated vehicles; tyre forces; vehicle stability; simulation.
National Category
Vehicle Engineering
URN: urn:nbn:se:kth:diva-11015DOI: 10.1504/IJVSMT.2009.029390ScopusID: 2-s2.0-70849095042OAI: diva2:234430
QC 20100722Available from: 2009-09-08 Created: 2009-09-08 Last updated: 2010-07-22Bibliographically approved
In thesis
1. Exploiting individual wheel actuators to enhance vehicle dynamics and safety in electric vehicles
Open this publication in new window or tab >>Exploiting individual wheel actuators to enhance vehicle dynamics and safety in electric vehicles
2009 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

This thesis is focused on individual wheel actuators in road vehicles intended for vehicle motion control. Particular attention is paid to electro-mechanical actuators and how they can contribute to improving vehicle dynamics and safety. The employment of individual wheel actuators at the vehicle's four corner results in a large degree of over-actuation. Over-actuation has a potential of exploiting the vehicle's force constraints at a high level and of controlling the vehicle more freely. One important reason for using over-actuated vehicles is their capability to assist the driver to experience the vehicle as desired. This thesis demonstrates that critical situations close to the limits can be handled more efficiently by over-actuation.

To maximise the vehicle performance, all the available actuators are systematically exploited within their force constraints.  Therefore, force constraints for the individually controlled wheel are formulated, along with important restrictions that follow as soon as a reduction in the degrees of freedom of the wheel occurs. Particular focus is directed at non-convex force constraints arising from combined tyre slip characteristics.

To evaluate the differently actuated vehicles, constrained control allocation is employed to control the vehicle. The allocation problem is formulated as an optimisation problem, which is solved by non-linear programming.

To emulate realistic safety critical scenarios, highly over-actuated vehicles are controlled and evaluated by the use of a driver model and a validated complex strongly non-linear vehicle model.

it is shown that, owing to the actuator redundancy, over-actuated vehicles possess an inherent capacity to handle actuator faults, with less need for extra hardware or case-specific fault-handling strategies.

Place, publisher, year, edition, pages
Stockholm: KTH, 2009. x, 84 p.
Trita-AVE, ISSN 1651-7660 ; 2009:33
autonomous wheel corner, actuators, vehicle dynamics, control allocation, electric vehicles, vehicle modelling
National Category
Engineering and Technology
urn:nbn:se:kth:diva-11005 (URN)978-91-7415-387-3 (ISBN)
Public defence
2009-09-25, F3, Lindstedtsvägen 26, KTH, Stockholm, 10:00 (English)
QC 20100722Available from: 2009-09-08 Created: 2009-09-03 Last updated: 2010-07-22Bibliographically approved

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