Optimal vehicle stability controller based on Nash strategy for differential LQ games

Tamaddoni, Seyed Hossein; Taheri, Saied; Ahmadian, Mehdi

doi:10.1504/ijvas.2010.035795

Cited by 13 publications

(3 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…27 This method needs to determine a set of Nash equilibrium solution as the threat points. However, it is difficult to solve the coupled algebraic Riccati equation 37 in the LQ differential game of n -players. To solve this problem, a Shapley value based method is used to calculate the weights.…”

Section: Game-based Fault-tolerant Schemementioning

confidence: 99%

Fault-tolerant control based on 2D game for independent driving electric vehicle suffering actuator failures

Zhang

Zhao

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

This paper proposes a cooperative game-based actuator fault-tolerant control strategy for a four-wheel independent drive electric vehicle with an active front steering system. For achieving fault-tolerant control and targets cooperation, a two-dimensional game strategy is proposed to balance the stability and economy. The first-dimensional game is utilized to determine the dominant control target of the actuator, then the second-dimensional game is employed to assign the fault-tolerant control task for the remaining healthy actuators. The two dimensions are integrated based on the linear quadratic differential game theory, and a hybrid weighted Pareto frontier is thus established. A Shapley value based weight calculation method is proposed to obtain a set of fair and unique weights according to the importance of each player, which makes the solution of the optimal control problem more easily obtained. The effectiveness and real-time performance of the control strategy are tested under different scenarios. The simulation results demonstrate that the proposed strategy can balance the stability and economy well, outperforms the traditional method in terms of target tracking performance. For special case, the response of the yaw rate could be improved up to 39.83% comparing to that of the linear quadratic regulator method.

show abstract

Section: Game-based Fault-tolerant Schemementioning

confidence: 99%

Fault-tolerant control based on 2D game for independent driving electric vehicle suffering actuator failures

Zhang

Zhao

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

show abstract

“…In order to study the handling and roll dynamic responses of the vehicle, a nonlinear model of a vehicle is derived which includes longitudinal and lateral translational motions, and roll and yaw motions with rotational dynamics of each of the four wheels [10]. It must be mentioned that the roll dynamics and the suspension compliance properties play an important role in providing a more realistic simulation environment for evaluating the control algorithm that will be developed in this paper.…”

Section: A Evaluation Modelmentioning

confidence: 99%

“…2. Vehicle evaluation model [10] Tire forces and moments are calculated based on a widely used semi-empirical tire model based on trigonometric functions known as Magic Formula [9]. Magic-Formula tire models are considered the state-of-the-art for modeling tireroad interaction in vehicle dynamics applications.…”

Section: A Evaluation Modelmentioning

confidence: 99%

Cooperative DYC system design for optimal vehicle handling enhancement

Tamaddoni

Taheri

Ahmadian

2010

Proceedings of the 2010 American Control Conference

View full text Add to dashboard Cite

In many severe maneuvers, the driver-controller interaction seems necessary for maintaining a stable vehicle. This paper introduces a novel cooperative direct yaw control (DYC) design for optimal vehicle stability control in the presence of human driver. The interaction is defined by forming a differential linear quadratic game between the driver who is controlling the steering angle and the controller which is controlling the brake torques. Evaluated by a nonlinear vehicle model, numerical simulations are presented for a vehicle in the standard fishhook test. Preliminary results show the effectiveness of this controller over a commonly used linear quadratic controller.

show abstract

Steering and braking game control architecture based minimax robust stability control for emergency avoidance of autonomous vehicles

Yan

et al. 2022

Sci. China Technol. Sci.

View full text Add to dashboard Cite

Optimal vehicle stability controller based on Nash strategy for differential LQ games

Cited by 13 publications

References 23 publications

Fault-tolerant control based on 2D game for independent driving electric vehicle suffering actuator failures

Fault-tolerant control based on 2D game for independent driving electric vehicle suffering actuator failures

Cooperative DYC system design for optimal vehicle handling enhancement

Steering and braking game control architecture based minimax robust stability control for emergency avoidance of autonomous vehicles

Contact Info

Product

Resources

About