DocumentCode :
268178
Title :
Vehicle Optimal Torque Vectoring Using State-Derivative Feedback and Linear Matrix Inequality
Author :
Fallah, S. ; Khajepour, Amir ; Fidan, Barış ; Shih-Ken Chen ; Litkouhi, Bakhtiar
Author_Institution :
Dept. of Mech. Eng. Sci., Univ. of Surrey, Guildford, UK
Volume :
62
Issue :
4
fYear :
2013
fDate :
May-13
Firstpage :
1540
Lastpage :
1552
Abstract :
A controller assistant system is developed based on the closed-form solution of an offline optimization problem for a four-wheel-drive front-wheel-steerable vehicle. The objective of the controller is to adjust the actual vehicle attitude and motion according to the driver´s manipulating commands. The controller takes feedback from acceleration signals, and the imposed conditions and limitations on the controller are studied through the concept of state-derivative feedback control systems. The controller gains are optimized using linear matrix inequality (LMI) and genetic algorithm (GA) techniques. Reference signals are calculated using a driver command interpreter module (DCIM) to accurately interpret the driver´s intentions for vehicle motion and to allow the controller to generate proper control actions. It is shown that the controller effectively enhances the handling performance and stability of the vehicle under different road conditions and driving scenarios. Although controller performance is studied for a four-wheel-drive front-wheel-steerable vehicle, the algorithm can also be applied to other vehicle configurations with slight changes.
Keywords :
control system synthesis; genetic algorithms; linear matrix inequalities; motion control; off-road vehicles; optimal control; state feedback; vehicles; DCIM; LMI; controller assistant system; driver command interpreter module; four-wheel-drive front-wheel-steerable vehicle; genetic algorithm techniques; linear matrix inequality; offline optimization problem; state-derivative feedback control systems; vehicle optimal torque vectoring; Acceleration; Control systems; Optimization; Stability analysis; Tires; Vectors; Vehicles; Linear matrix inequality (LMI); optimal control; state-derivative feedback; torque vectoring;
fLanguage :
English
Journal_Title :
Vehicular Technology, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9545
Type :
jour
DOI :
10.1109/TVT.2012.2232947
Filename :
6376258
Link To Document :
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