Vehicle Dynamics Control Using Model Predictive Control Allocation Combined with an Adaptive Parameter Estimator

Vehicle Dynamics Control Using Model Predictive Control Allocation Combined with an Adaptive Parameter Estimator

Chatrath, Karan (Student TU Delft)
Zheng, Y. (TU Delft Intelligent Vehicles)
Shyrokau, B. (TU Delft Intelligent Vehicles)

2020

Advanced passenger vehicles are complex dynamic systems that are equipped with several actuators, possibly including differential braking, active steering, and semi-active or active suspensions. The simultaneous use of several actuators for integrated vehicle motion control has been a topic of great interest in literature. To facilitate this, a technique known as control allocation (CA) has been employed. CA is a technique that enables the coordination of various actuators of a system. One of the main challenges in the study of CA has been the representation of actuator dynamics in the optimal CA problem (OCAP). Using model predictive control allocation (MPCA), this problem has been addressed. Furthermore, the actual dynamics of actuators may vary over the lifespan of the system due to factors such as wear, lack of maintenance, etc. Therefore, it is further required to compensate for any mismatches between the actual actuator parameters and those used in the OCAP. This is done by combining the MPCA solver with an online adaptive parameter estimation (APE) algorithm. In this study, an advanced solution to the OCAP is proposed by combining MPCA with APE. This solution coordinates differential braking and active front steering (AFS) of a passenger vehicle, to stabilize the lateral and yaw motion. The simulation results indicate that the APE+MPCA combination effectively accounts for actuator dynamics and actuator parameter mismatches.

Vehicle integration
Active suspension systems
Vehicle dynamics /flight dynamics
Sensors and actuators
Mathematical models
Differential gears
Yaw
Internet
Wear

http://resolver.tudelft.nl/uuid:08763268-7929-4f6c-ac9f-77dfbe580b9e

https://doi.org/10.4271/12-03-02-0009

2021-01-08

SAE International Journal of Connected and Automated Vehicles, 3 (2), 103-117

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

journal article

© 2020 Karan Chatrath, Y. Zheng, B. Shyrokau