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.


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    Titel :

    Lyapunov control of vehicle handling dynamics


    Weitere Titelangaben:

    Lyapunov-Regelung für die Fahrdynamik


    Beteiligte:
    Gordon, T.J. (Autor:in) / Best, M.C. (Autor:in)

    Erschienen in:

    JSAE Review ; 20 , 4 ; 453-458


    Erscheinungsdatum :

    1999


    Format / Umfang :

    6 Seiten, 12 Bilder, 1 Tabelle, 7 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




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