Title :
Approach to vehicle yaw stability control based on differential brake
Author :
Liu Zhiyuan ; Zhou Hongliang
Author_Institution :
Dept. of Control Sci. & Eng., Harbin Inst. of Technol., Harbin, China
Abstract :
The paper addresses a vehicle yaw stability controller based on differential brake aiming at vehicle yaw stability control problem. Firstly, a piece-wise affine model is obtained through first order Taylor series expansion of vehicle yaw dynamics and wheel dynamics to approximate vehicle nonlinear dynamics. Secondly, a controller is designed based on explicit model predictive control method, which is to control vehicle yaw rate to track driver desired yaw rate and meet vehicle states and brake torque constraints. At last, the controller is evaluated in a nonlinear vehicle dynamics software, in which the control input is calculated through checking table.
Keywords :
brakes; control system synthesis; nonlinear control systems; position control; predictive control; series (mathematics); stability; torque control; vehicle dynamics; brake torque constraint; controller design; differential brake; explicit model predictive control method; first order Taylor series expansion; piecewise affine model; vehicle nonlinear dynamics; vehicle yaw dynamics; vehicle yaw stability control; wheel dynamics; Electronic mail; Predictive control; Predictive models; Stability analysis; Thermal stability; Vehicle dynamics; Vehicles; Explicit Model Predictive Control; Piece-wise Affine Model; Yaw Stability Control;
Conference_Titel :
Control Conference (CCC), 2011 30th Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4577-0677-6
Electronic_ISBN :
1934-1768
