Global Chassis Control Based on Inverse Vehicle Dynamics Models

This work proposes to approach global chassis control (GCC) by means of model inversion-based feedforward with allocation directly on the actuator commands. The available degrees of freedom are used to execute the desired vehicle motion while minimizing the utilization of the tyre's grip potential. This is done by sampled constrained least-squares optimization of the linearized problem. To compensate for model errors and external disturbances, high-gain feedback is applied by means of an inverse disturbance observer. The presented method is applied in a comparison of eight vehicles with different actuator configurations for steer, drive, brake and load distribution. The approach shows a transparent and effective method to deal with the complex issue of a GCC in a unitized way. It gives both a base for controller design and a structured way to compare different configurations. In practice, the transparency supports automatic on-board reconfiguration in the case of actuator hardware failure.

• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/isbn/9780415436168
• Supplemental Notes:
  • Abstract reprinted with permission from Taylor and Francis.
• Corporate Authors:

  Taylor & Francis

  4 Park Square, Milton Park
  Abingdon,   United Kingdom  OX14 4RN
• Authors:
  • Andreasson, J
  • Bunte, T
• Conference:
  • 19th Symposium of the International Association for Vehicle System Dynamics
  • Location: Milan , Italy
  • Date: 2005-8-28 to 2005-9-2
• Publication Date: 2006

Language

• English

Media Info

• Media Type: Print
• Features: Figures; References; Tables;
• Pagination: pp 321-328
• Monograph Title: Proceedings of the 19th Symposium of the International Association for Vehicle System Dynamics
• Serial:
  • Vehicle System Dynamics
  • Volume: 44
  • Issue Number: Supplement
  • Publisher: Taylor & Francis
  • ISSN: 0042-3114
  • EISSN: 1744-5159

Subject/Index Terms

• TRT Terms: Braking; Chassis; Degrees of freedom; Driving; Feedforward control; Least squares method; Load transfer; Steering; Vehicle dynamics
• Uncontrolled Terms: Global chassis control; Inverse model
• Subject Areas: Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01046719
• Record Type: Publication
• ISBN: 9780415436168
• Files: TRIS
• Created Date: Apr 9 2007 3:35PM