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EnglishIn this paper we present the integration of a Linear-Time-Varying Model-Predictive-Control (LTV-MPC), designed to stabilize a vehicle during sudden lane change or excessive speed-entry in curve, with a slip controller that converts the desired longitudinal tire force variation in pressure variation in the brake system. The lateral controller is designed using a three-degrees-of-freedom vehicle model taking into account both yaw rate and side slip angle of vehicle while the slip controller is a nonlinear gain scheduling P with feedforward action. The performances are validated with SIL technique, in particular, the authors use a proprietary simulator calibrated on an oversteering sport commercial car. Simulation results show the benefits of the control methodology used.
| Titolo: | A preliminary study to integrate LTV-MPC lateral vehicle dynamics control with a slip control | |
| Autori interni: | ||
| Data di pubblicazione: | 2009 | |
| Handle: | http://hdl.handle.net/20.500.12070/12022 | |
| ISBN: | 978-1-4244-3871-6 | |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
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http://hdl.handle.net/20.500.12070/12022
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