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Using future path information for improving the stability of an over-actuated vehicle

Johan Backmark (Institutionen för signaler och system) ; Erik Karlsson (Institutionen för signaler och system) ; Jonas Fredriksson (Institutionen för signaler och system, Mekatronik) ; Mats Jonasson
International Journal of Vehicle Systems Modelling and Testing (1745-6436). Vol. 4 (2009), 3, p. 218-231.
[Artikel, refereegranskad vetenskaplig]

In this paper, model predictive control (MPC) is applied for controlling an over-actuated vehicle. The control problem is associated with the distribution of the tyre forces to ensure vehicle stability. The use of MPC is shown to be a suitable method if the vehicle’s future desired trajectory is known. Simulation studies conducted show that access to information in advance, even if such information is restricted to only a few seconds, significantly contributes to maintaining vehicle stability. Furthermore, a longer prediction horizon results in earlier actions and stabilises the vehicle even better.



Denna post skapades 2009-11-19. Senast ändrad 2013-10-29.
CPL Pubid: 101869

 

Institutioner (Chalmers)

Institutionen för signaler och system (1900-2017)
Institutionen för signaler och system, Mekatronik (2005-2017)

Ämnesområden

Reglerteknik
Farkostteknik

Chalmers infrastruktur