Adaptive Vehicle Lateral-Plane Motion Control Using Optimal Tire Friction Forces With Saturation Limits Consideration

Ahmadi, Javad; Sedigh, Ali Khaki; Kabganian, Mansour

doi:10.1109/tvt.2009.2023660

Cited by 85 publications

(28 citation statements)

References 10 publications

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“…In view of (13) and (18), it can be easily seen that in the closed-loop system (3), (15) and (21), the tracking error…”

Section: Approximate Decoupling Control Lawmentioning

confidence: 99%

“…In [10], exact decoupling between lateral and yaw dynamics requires that the desired yaw dynamics follow a third-order reference model, which is not always the desired model. Besides, the inherent coupling effects between control inputs, net torque and steering angles are often ignored by simplifying the dynamic equations in controller design [11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

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Non-linear decoupling control of vehicle plane motion

Chen

Jia

et al. 2012

IET Control Theory Appl.

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This article studies the decoupling control strategies for a quasi-linearised vehicle model consisting of three degrees of freedom. The key feature of the model is that it preserves strong non-linearities and inherent coupling effects between longitudinal acceleration/braking force, steering angles and state variables of the vehicle, based on which two kinds of decoupling controllers are presented. Firstly, a control law for approximate decoupling of longitudinal, lateral and yaw motions is derived, which requires small control magnitude. Next, by selecting the virtual control inputs, a new inputoutput map is built, and the input-output decoupling controller is proposed. Furthermore, according to the characteristics of the vehicle model, an exponentially stable observer is designed. Several simulations are included to illustrate the proposed control scheme.

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“…In view of (13) and (18), it can be easily seen that in the closed-loop system (3), (15) and (21), the tracking error…”

Section: Approximate Decoupling Control Lawmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Non-linear decoupling control of vehicle plane motion

Chen

Jia

et al. 2012

IET Control Theory Appl.

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“…Likewise has developed research on active steering control, among others, an adaptive nonlinear control scheme aimed at the improvement of the handling properties of vehicles [5].…”

Section: Introductionmentioning

confidence: 99%

Optimization of active steering control on vehicle with steer by wire system using Imperialist Competitive Algorithm (ICA)

Ali

Hunaini

Robandi

et al. 2015

2015 3rd International Conference on Information and Communication Technology (ICoICT)

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This paper presents the simulation of vehicle steering control system using the Imperialist Competitive Algorithm (ICA) for optimizing Proportional Integral Derivative (PID) control parameters to suppress errors on lateral motion and the yaw motion of vehicles. The vehicles are represented in the model vehicle with 10 degrees of Freedom of vehicle dynamics system. The simulation results show that the PID control tuned by the ICA in the vehicle steering control system can adjust the plant output to the desired trajectory so that the stability of the vehicle is maintained. Vehicle yaw error and lateral error can be reduced by using ICA to determine PID parameter. The main advantage of proposed optimization is faster and more accurate compared with standard PID controller. And then the error of the controller is reduced too. The results obtained are of vehicle motion can be maintained in accordance with the desired trajectory with smaller error and was able to achieve higher speeds than with the control system using optimized without parameters. This paper only deals with software simulation to proof the effect of ICA-PID optimization. The hardware implementation will be investigated in the next future.

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“…Unconstrained optimization methods are presented in [7], [8]. The saturation and rate limits of tire forces are considered in [9]. Quadratic program (QP) is often used to solve the optimization problem [10] with numerical iteration via, for example, active set method or interior point method.…”

Section: Introductionmentioning

confidence: 99%

Allocation-based control for four-wheel independently driven and braked electric vehicle considering actuators' dynamic characteristics

Wang

Deng

et al. 2014

2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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This paper proposes an allocation-based control method for four-wheel independently driven and braked electric vehicle by taking into consideration of actuators dynamic characteristics. The dynamic characteristics of both driving and braking actuators are modeled as physical constraints in order to form a constrained optimization problem. A slacking method is introduced and analyzed in determining the body force distribution through the optimization-based control allocation. The simulation is conducted and the results show that the proposed method works as expected and is valid and effective.

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Adaptive Vehicle Lateral-Plane Motion Control Using Optimal Tire Friction Forces With Saturation Limits Consideration

Cited by 85 publications

References 10 publications

Non-linear decoupling control of vehicle plane motion

Non-linear decoupling control of vehicle plane motion

Optimization of active steering control on vehicle with steer by wire system using Imperialist Competitive Algorithm (ICA)

Allocation-based control for four-wheel independently driven and braked electric vehicle considering actuators' dynamic characteristics

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