Topic
Vehicle dynamics
About: Vehicle dynamics is a research topic. Over the lifetime, 12909 publications have been published within this topic receiving 204091 citations.
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TL;DR: Theoretical analysis and simulation results reveal that the proposed bioinspired nonlinear dynamics-based adaptive controller has a significant impact on the amount of energy consumption, considering the same basic control method and random excitation of road irregularity for a similar ride comfort performance.
Abstract: This paper investigates the energy-efficiency design of adaptive control for active suspension systems with a bioinspired nonlinearity approach To this aim, a bioinspired dynamics-based adaptive tracking control is proposed for nonlinear suspension systems In many existing techniques, one important effort is used for canceling vibration energy transmitted by suspension inherent nonlinearity to improve ride comfort Unlike existing methods, the proposed approach takes full advantage of beneficial nonlinear stiffness and damping characteristics inspired by the limb motion dynamics of biological systems to achieve advantageous nonlinear suspension properties with potentially less energy consumption The stability analysis of the desired bioinspired nonlinear dynamics is conducted within the Lyapunov framework Theoretical analysis and simulation results reveal that the proposed bioinspired nonlinear dynamics-based adaptive controller has a significant impact on the amount of energy consumption, considering the same basic control method and random excitation of road irregularity for a similar ride comfort performance
124 citations
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TL;DR: A robust fuzzy control strategy for improving vehicle lateral stability and handling performance through integration of direct yaw moment control system (DYC) and active front steering is presented.
Abstract: This paper presents a robust fuzzy $H_{\infty }$ control strategy for improving vehicle lateral stability and handling performance through integration of direct yaw moment control system (DYC) and active front steering. Since vehicle lateral dynamics possesses inherent nonlinearities, the main objective is dedicated to deal with the nonlinear challenge in vehicle lateral dynamics by applying Takagi-Sugeno (T-S) fuzzy modeling approach. First, the nonlinear Brush tire dynamics and the nonlinear functions of longitudinal velocity are represented via a T-S fuzzy modeling technique, and vehicle parametric uncertainties are handled by the norm-bounded uncertainties. An uncertain nonlinear vehicle lateral dynamic T-S fuzzy model is then obtained with multi-fuzzy-rules. The resulting robust fuzzy $H_{\infty }$ state-feedback controller is designed with the parallel-distributed compensation strategy and premise variables, and solved via a set of linear matrix inequalities derived from Lyapunov asymptotic stability and quadratic $H_{\infty }$ performance. Simulations for two different maneuvers are implemented with a high-fidelity, CarSimⓇ, full-vehicle model to verify the effectiveness of the developed approach. It is confirmed from the results that the proposed controller can effectively preserve vehicle lateral stability and enhance yaw handling performance.
124 citations
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TL;DR: In this article, the authors developed a vehicle sidelip observer that takes the nonlinearities of the system into account, both in the theoretical analysis and the design, to make the observer suitable for implementation in the embedded hardware, and a reduction in the number of tuning parameters compared to the EKF.
Abstract: The objective of this article is to develop a vehicle sideslip observer that takes the nonlinearities of the system into account, both in the theoretical analysis and the design. The design goals include reduction of the computational complexity compared to the EKF, to make the observer suitable for implementation in the embedded hardware, and a reduction in the number of tuning parameters compared to the EKF. Design is based on a standard sensor configuration, and is subjected to the extensive testing in the realist conditions.
124 citations
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TL;DR: In this article, a vehicle model of a typical sports sedan was developed in Simulink, with fully independent control of torque distribution, and a proportional-integral control strategy was implemented, applying yaw rate feedback to vary the front-rear torque distribution and lateral acceleration feedback to adjust the left-right distribution.
Abstract: The sophistication of all-wheel-drive (AWD) technology is approaching the point where the drive torque to each wheel can be independently controlled. This potentially offers vehicle handling enhancements similar to those provided by dynamic stability control, but without the inevitable reduction in vehicle acceleration. Independent control of AWD torque distribution would therefore be especially beneficial under acceleration close to the limit of stability. A vehicle model of a typical sports sedan was developed in Simulink, with fully independent control of torque distribution. Box–Behnken experimental design was employed to determine which torque distribution parameters have the greatest impact on the vehicle course and acceleration. A proportional-integral control strategy was implemented, applying yaw rate feedback to vary the front–rear torque distribution and lateral acceleration feedback to adjust the left–right distribution. The resulting system shows a significant improvement over conventional dr...
124 citations
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13 Jan 2020TL;DR: A two-layer distributed control scheme to maintain the string stability of a heterogeneous and connected vehicle platoon moving in one dimension with constant spacing policy assuming constant velocity of the lead vehicle and validated by hardware experiments with real robots.
Abstract: Automatic cruise control of a platoon of multiple connected vehicles in an automated highway system has drawn significant attention of the control practitioners over the past two decades due to its ability to reduce traffic congestion problems, improve traffic throughput and enhance safety of highway traffic. This paper proposes a two-layer distributed control scheme to maintain the string stability of a heterogeneous and connected vehicle platoon moving in one dimension with constant spacing policy assuming constant velocity of the lead vehicle. A feedback linearization tool is applied first to transform the nonlinear vehicle dynamics into a linear heterogeneous state-space model and then a distributed adaptive control protocol has been designed to keep equal inter-vehicular spacing between any consecutive vehicles while maintaining a desired longitudinal velocity of the entire platoon. The proposed scheme utilizes only the neighbouring state information (i.e. relative distance, velocity and acceleration) and the leader is not required to communicate with each and every one of the following vehicles directly since the interaction topology of the vehicle platoon is designed to have a spanning tree rooted at the leader. Simulation results demonstrated the effectiveness of the proposed platoon control scheme. Moreover, the practical feasibility of the scheme was validated by hardware experiments with real robots.
123 citations