Citation

Zhang Y, Khajepour A, Ataei M. IEEE Trans. Vehicular Tech. 2020; 69(4): 3748-3759.

Copyright

(Copyright © 2020, IEEE (Institute of Electrical and Electronics Engineers))

DOI

10.1109/TVT.2020.2973082

PMID

unavailable

Abstract

To meet with many different transportation needs, it comes in a rich diversity and variety of articulated vehicles. Vehicle combinations are seen in different axle configurations, number of articulations, powertrain, active actuation systems, etc. This research is, therefore, motivated to develop a model-based control system in a universal and reconfigurable fashion to any articulated vehicles stability control. To achieve its universality and reconfigurability, we introduce a hierarchical (two-layer) control system. Namely, the high layer formulates a model predictive control (MPC) tracking problem to generate corrective Center of Gravity (C.G.) forces/moment. The lower-level controller is formulated as Control Allocation (CA) algorithm to regulate steering or torque (brake) at each wheel optimally and reconfigurable as to meet high-level calculations. Real-time constraints, i.e. actuator limits, tire capacity, and actuator failure are discussed. Diverse applications are presented that the universal and reconfigurable methodology is handy, capable and effective on stability control while applying to various vehicle configurations and objectives.

Language: en

Keywords

active actuation systems; actuators; Actuators; articulated vehicle stability control; Articulated vehicles; axle configurations; axles; Axles; control allocation; control allocation algorithm; corrective center of gravity; Force; hierarchical control system; integrated vehicle stability; lower-level controller; Mathematical model; model predictive control; model predictive control tracking problem; model-based control system; MPC; optimisation; predictive control; road vehicles; stability; Stability analysis; steering systems; Tires; universal and reconfigurable control; universal reconfigurable stability control methodology; vehicle configurations; vehicle dynamics; Vehicle dynamics; wheels