Yaw Stability Enhancement of Articulated Commercial Vehicles via Gain-Scheduling Optimal Control Approach

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Event
WCX™ 17: SAE World Congress Experience
Authors Abstract
Content
In this paper, a gain-scheduling optimal control approach is proposed to enhance yaw stability of articulated commercial vehicles through active braking of the proper wheel(s). For this purpose, an optimal feedback control is used to design a family of yaw moment controllers considering a broad range of vehicle velocities. The yaw moment controller is designed such that the instantaneous tractor yaw rate and articulation angle responses are forced to track the target values at each specific vehicle velocity. A gain scheduling mechanism is subsequently constructed via interpolations among the controllers. Furthermore, yaw moments derived from the proposed controller are realized by braking torque distribution among the appropriate wheels. The effectiveness of the proposed yaw stability control scheme is evaluated through software-in-the-loop (SIL) co-simulations involving Matlab/Simulink and TruckSim under lane change maneuvers. Simulation results demonstrate that the proposed gain scheduling optimal controllers can yield enhanced yaw stability of articulated commercial vehicles by the updating of control gains with the change of vehicle velocity.
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DOI
https://doi.org/10.4271/2017-01-0437
Pages
8
Citation
Li, B., and Rakheja, S., "Yaw Stability Enhancement of Articulated Commercial Vehicles via Gain-Scheduling Optimal Control Approach," Commercial Vehicles 10(1):275-282, 2017, https://doi.org/10.4271/2017-01-0437.
Additional Details
Publisher
Published
Mar 28, 2017
Product Code
2017-01-0437
Content Type
Journal Article
Language
English