Study on Vehicle Stability Control by Using Model Predictive Controller and Tire-road Force Robust Optimal Allocation 2015-01-1580
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.
Citation: Dengbo, H., Hui, L., and Fan, Y., "Study on Vehicle Stability Control by Using Model Predictive Controller and Tire-road Force Robust Optimal Allocation," SAE Int. J. Commer. Veh. 8(1):126-136, 2015, https://doi.org/10.4271/2015-01-1580. Download Citation
He Dengbo, Lu Hui, Yu Fan
Shanghai Jiao Tong University
SAE 2015 World Congress & Exhibition
SAE International Journal of Commercial Vehicles-V124-2EJ, SAE International Journal of Commercial Vehicles-V124-2