This article proposed a reconfigurable control scheme for articulated vehicles’ stabilization by leveraging optimization-based control techniques. The central objective is to maintain a good lateral and yaw stability of the vehicle with optimal corrective brakes, meanwhile applicable to different actuation configurations. This is achieved by a two-layer control structure, where the high-level controller formulates as a model predictive control (MPC) tracking problem to generate corrective center-of-gravity (CG) yaw moment of each unit. The lower level controller utilizes the control allocation (CA) algorithm with real-time constraints to optimally calculate differential brakes at each wheel with maximum utilization-of-tires capacity. To evaluate its real-time performance, experimental validation is carried out on the electrified tractor-trailer with selective differential braking systems. It is observed that the controller is effective in dynamics control, meanwhile reconfigurable to various actuation configurations. Furthermore, the proposed system has great potential in production tractor-trailer systems due to the low cost and number of sensor requisites.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Reconfigurable Model Predictive Control for Articulated Vehicle Stability With Experimental Validation


    Beteiligte:
    Zhang, Yubiao (Autor:in) / Khajepour, Amir (Autor:in) / Hashemi, Ehsan (Autor:in) / Qin, Yechen (Autor:in) / Huang, Yanjun (Autor:in)


    Erscheinungsdatum :

    2020-03-01


    Format / Umfang :

    3221774 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Experimental Validation of Yaw Stability Control Strategies for Articulated Vehicle Combinations

    Erdinc, Umur / Jonasson, Mats / K., Maliheh Sadeghi et al. | IEEE | 2024



    Validation of an articulated vehicle yaw/roll model

    Lin, R. C. / Cebon, D. / Cole, D. J. | TIBKAT | 1993


    Optimal roll control of an articulated vehicle: theory and model validation

    Miege,A.J. / Cebon,D. / QientiQ,ounted Systems,GB et al. | Kraftfahrwesen | 2005