2013
DOI: 10.1177/0142331213490597
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Adaptive optimal control allocation using Lagrangian neural networks for stability control of a 4WS–4WD electric vehicle

Abstract: This study involves a layered vehicle dynamics control system, which is composed of an adaptive optimal control allocation method using Lagrangian neural networks for optimal distribution of tyre forces and the sliding mode yaw moment observer for robust control of yaw dynamics. The proposed optimal control allocation method eliminates the requirement of solving optimization problem in every time step and it is a convergent and stability guaranteed solution for the optimal tyre force distribution problem. The … Show more

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Cited by 27 publications
(18 citation statements)
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“…7(a) and 7(b), respectively. For the purpose of comparison, the simulation result of the linear optimal control allocation method using equations (12) and (13) is also presented. The simulation performance is also presented when no optimal tire force distribution method is applied.…”
Section: Simulation Results Of the Control Allocation Methodsmentioning
confidence: 99%
See 3 more Smart Citations
“…7(a) and 7(b), respectively. For the purpose of comparison, the simulation result of the linear optimal control allocation method using equations (12) and (13) is also presented. The simulation performance is also presented when no optimal tire force distribution method is applied.…”
Section: Simulation Results Of the Control Allocation Methodsmentioning
confidence: 99%
“…Suzuki et al used the simple linear relations between the steering angle, driving torque, and side force F si or traction or brake force F ti as shown in equations (12) and (13) [14]…”
Section: Design Of Tire Longitudinal Slip Ratio and Lateral Slip Anglmentioning
confidence: 99%
See 2 more Smart Citations
“…The X-by-wire (XBW) technology has received much attention since it provides the potential benefit for enhancing vehicle performance (Liu et al, 2017a; Sun et al, 2015), improving comfort (Do et al, 2014), stability (Yao et al, 2014a), maneuverability, and fully integrated vehicle dynamic control (Demirci, 2013). A steer-by-wire (SBW) system is such a system where there is no mechanical connection between the steering wheel and the front road wheels (Wei et al, 2016; Yamaguchi and Murakami, 2009), whilst the electric actuators are deployed to control the steering wheel and the front wheel independently (Wu et al, 2016).…”
Section: Introductionmentioning
confidence: 99%