Journal ArticleDOI
Integrated model predictive control and velocity estimation of electric vehicles
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TLDR
In this paper, an integrated estimation and control system is developed for the stability and traction control of electric vehicles, where a model predictive control technique is used to track the desired vehicle yaw rate while maintaining small lateral velocity and tire slip ratios.About:
This article is published in Mechatronics.The article was published on 2017-10-01. It has received 57 citations till now. The article focuses on the topics: Slip (vehicle dynamics) & Yaw.read more
Citations
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Journal ArticleDOI
Model predictive control of vehicle stability using coordinated active steering and differential brakes
TL;DR: In this paper, a bicycle model of the vehicle and the moment of the differential brakes is considered as an external torque is used to predict the lateral stability of vehicles using coordinated active front steering and differential brakes.
Journal ArticleDOI
Comparison of Path Tracking and Torque-Vectoring Controllers for Autonomous Electric Vehicles
Christoforos Chatzikomis,Aldo Sorniotti,Patrick Gruber,Mattia Zanchetta,Dan Willans,Bryn Balcombe +5 more
TL;DR: This paper analyzes the benefits of torque-vectoring in an autonomous electric vehicle, either by integrating the torque- vectoring system into the path tracking controller, or through its separate implementation alongside the steering controller for path tracking.
Journal ArticleDOI
A novel nonlinear road profile classification approach for controllable suspension system: Simulation and experimental validation
TL;DR: A road classification procedure that can be used for road adaptive suspension control with any control algorithm is developed and the concept of insensitive index which is based on the time-frequency analysis is proposed.
Journal ArticleDOI
Yaw Rate and Sideslip Angle Control Through Single Input Single Output Direct Yaw Moment Control
TL;DR: Results show that the SISO controller allows constraining the sideslip angle within the predetermined thresholds and yields tire-road friction adaptation with all the considered feedback controllers.
Journal ArticleDOI
On the experimental analysis of integral sliding modes for yaw rate and sideslip control of an electric vehicle with multiple motors
Antonio Tota,Antonio Tota,Basilio Lenzo,Basilio Lenzo,Qian Lu,Aldo Sorniotti,Patrick Gruber,Saber Fallah,Mauro Velardocchia,Enrico Galvagno,Jasper De Smet +10 more
TL;DR: The results show that the integral sliding mode controller significantly enhances the tracking performance and yaw damping compared to the more conventional linear quadratic regulator based on an augmented singletrack vehicle model formulation.
References
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Proceedings ArticleDOI
New extension of the Kalman filter to nonlinear systems
Simon Julier,Jeffrey Uhlmann +1 more
TL;DR: It is argued that the ease of implementation and more accurate estimation features of the new filter recommend its use over the EKF in virtually all applications.
Journal ArticleDOI
A new model for control of systems with friction
TL;DR: A new dynamic model for friction is proposed that captures most of the friction behavior that has been observed experimentally, including the Stribeck effect, hysteresis, spring-like characteristics for stiction, and varying break-away force.
Book
Fundamentals of Vehicle Dynamics
TL;DR: In this article, the authors attempt to find a middle ground by balancing engineering principles and equations of use to every automotive engineer with practical explanations of the mechanics involved, so that those without a formal engineering degree can still comprehend and use most of the principles discussed.
Journal ArticleDOI
qpOASES: a parametric active-set algorithm for quadratic programming
TL;DR: The open-source C++ software package qpOASES is described, which implements a parametric active-set method in a reliable and efficient way and can be used to compute critical points of nonconvex QP problems.