LTV-MPC for yaw rate control and side slip control with dynamically constrained differential braking

Author

Barbarisi, Osvaldo ; Palmieri, Giovanni ; Scala, Stefano ; Glielmo, Luigi

Author_Institution

Dipt. di Ing., Univ. del Sannio, Benevento, Italy

fYear

2009

fDate

23-26 Aug. 2009

Firstpage

4810

Lastpage

4815

Abstract

In this paper a novel vehicle lateral dynamic control approach is presented. A differential braking control law based on vehicle planar motion has been designed using a two-degrees-of-freedom vehicle model. On the basis of the estimate of tire longitudinal forces we estimate the range of lateral forces which the tire can exert. Using this constraints a model predictive control (MPC) based on a two-track model is designed in order to stabilize the vehicle. The performances are estimated comparing the results with standard manoeuvers. Simulation results show the benefits of the control methodology used: in particular we show how very effective distribution of braking torque are obtained as a result of this feedback policy.

Keywords

braking; control system synthesis; feedback; linear parameter varying systems; predictive control; stability; torque control; tyres; vehicle dynamics; LTV-MPC; MPC constraints; braking torque distribution; differential braking control law design; dynamically constrained differential braking; feedback policy; lateral force estimation; model predictive control constraints; performance estimation; side slip control; tire longitudinal force estimation; two-degree-of-freedom vehicle model; two-track model design; vehicle lateral dynamic control approach; vehicle planar motion; vehicle stabilization; yaw rate control; Computational modeling; Force; Stability analysis; Tires; Vehicle dynamics; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2009 European

Conference_Location

Budapest

Print_ISBN

978-3-9524173-9-3

Type

conf

Filename

7075161