This study has investigated some fundamental issues concerned with the speed and directional control of a motor vehicle, assuming a very high level of independent control of longitudinal and lateral tyre forces, but in the presence of uncertain and variable road surface friction. Adaptation of demand signals (driver inputs) is highly beneficial, and though this requires a certain level of friction estimation, it is easily obtained from the overall vehicle response, and easily incorporates a transient lag of order tau2 = 0.25 s. Other than this, the assumption has been simply that the horizontal force vector can be controlled in direction, with whatever peak amplitude is available from the road-tyre friction. Future work will consider the application of these ideas to cases where more realistic limits are imposed on the control of tyre forces. It is anticipated that the same methods will be successful, provided (i) adequate vehicle information can be deduced from commonly available sensors, and (ii) the underlying Lyapunov function is developed to take account of the added demands of the handling dynamics, where for example there is an unsteered rear axle.
Lyapunov control of vehicle handling dynamics
Lyapunov-Regelung für die Fahrdynamik
JSAE Review ; 20 , 4 ; 453-458
1999
6 Seiten, 12 Bilder, 1 Tabelle, 7 Quellen
Aufsatz (Zeitschrift)
Englisch
Fahrdynamik , Fahrzeugdynamik , Bodenhaftung , Straßenfahrzeuglauftechnik , Straßenfahrdynamik , Schleudern (Fahrzeug) , Straßenbelag , Wasserglätte , Flüssigkeitsreibung , Autoreifen , Oberflächenreibung , Reibungskoeffizient , nichtlineare Regelung , Schätzung , Fahrgeschwindigkeit , Geschwindigkeitsregelung
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