Direct Yaw Control of Vehicle using State Dependent Riccati Equation with Integral Terms
Direct yaw control of four-wheel vehicles using optimal controllers such as the linear quadratic regulator (LQR) and the sliding mode controller (SMC) either considers only certain parameters constant in the nonlinear equations of vehicle model or totally neglect their effects to obtain simplified...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Stefan cel Mare University of Suceava
2016-05-01
|
| Series: | Advances in Electrical and Computer Engineering |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.4316/AECE.2016.02014 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | Direct yaw control of four-wheel vehicles using optimal controllers such as the linear quadratic regulator
(LQR) and the sliding mode controller (SMC) either considers only certain parameters constant in the nonlinear
equations of vehicle model or totally neglect their effects to obtain simplified models, resulting in loss of
states for the system. In this paper, a modified state-dependent Ricatti equation method obtained by the
simplification of the vehicle model is proposed. This method overcomes the problem of the lost states by
including state integrals. The results of the proposed system are compared with the sliding mode slip
controller and state-dependent Ricatti equation method using high fidelity vehicle model in the vehicle
simulation software package, Carsim. Results show 38% reduction in the lateral velocity, 34% reduction
in roll and 16% reduction in excessive yaw by only increasing the fuel consumption by 6.07%. |
|---|---|
| ISSN: | 1582-7445 1844-7600 |