This paper shows how real-time optimisation for actuator coordination, known as control allocation, can be a viable choice for heavy vehicle motion control systems. For this purpose, a basic stability control system implementing the method is presented. The real-time performance of two different control allocation solvers is evaluated and the use of dynamic weighting is analysed. Results show that sufficient vehicle stability can be achieved when using control allocation for actuator coordination in heavy vehicle stability control. Furthermore, real-time simulations indicate that the optimisation can be performed with the computational capacity of today's standard electronic control units.
Real-time performance of control allocation for actuator coordination in heavy vehicles
2009 IEEE Intelligent Vehicles Symposium ; 685-690
2009-06-01
1093125 byte
Conference paper
Electronic Resource
English
Real-time Performance of Control Allocation for Actuator Coordination in Heavy Vehicles
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