This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Study on Vehicle Stability Control by Using Model Predictive Controller and Tire-road Force Robust Optimal Allocation
Abstract:
The vehicle chassis integrated control system can improve the stability of vehicles under extreme conditions using tire force allocation algorithm, in which, the nonlinearity and uncertainty of tire-road contact condition need to be taken into consideration. Thus, An MPC (Model Predictive Control) controller is designed to obtain the additional steering angle and the additional yaw moment. By using a robust optimal allocation algorithm, the additional yaw moment is allocated to the slip ratios of four wheels. An SMC (Sliding-Mode Control) controller is designed to maintain the desired slip ratio of each wheel. Finally, the control performance is verified in MATLAB-CarSim co-simulation environment with open-loop manoeuvers.
Recommended Content
| Technical Paper | Robust Vehicle Stability Controller based on Multiple Sliding Mode Control |
| Technical Paper | Design of Observer for Vehicle Stability Control System |
| Technical Paper | A Study on Optimal Yaw Moment Distribution Control Based on Tire Model |