Vehicle dynamics

About: Vehicle dynamics is a research topic. Over the lifetime, 12909 publications have been published within this topic receiving 204091 citations.

A Novel Extreme Learning Control Framework of Unmanned Surface Vehicles

Abstract: In this paper, an extreme learning control (ELC) framework using the single-hidden-layer feedforward network (SLFN) with random hidden nodes for tracking an unmanned surface vehicle suffering from unknown dynamics and external disturbances is proposed. By combining tracking errors with derivatives, an error surface and transformed states are defined to encapsulate unknown dynamics and disturbances into a lumped vector field of transformed states. The lumped nonlinearity is further identified accurately by an extreme-learning-machine-based SLFN approximator which does not require a priori system knowledge nor tuning input weights. Only output weights of the SLFN need to be updated by adaptive projection-based laws derived from the Lyapunov approach. Moreover, an error compensator is incorporated to suppress approximation residuals, and thereby contributing to the robustness and global asymptotic stability of the closed-loop ELC system. Simulation studies and comprehensive comparisons demonstrate that the ELC framework achieves high accuracy in both tracking and approximation.

Coordinated vehicle dynamics control with control distribution

Abstract: This paper investigates a hierarchically coordinated vehicle dynamics control approach with individual wheel torque and steering actuation. A high-level robust nonlinear sliding mode controller is designed to determine the generalized forces/moments required to achieve vehicle motion objectives. A weighted pseudo-inverse based control allocation method is employed for computationally efficient distribution of control effort to the slip and slip angle of each wheel. To avoid saturation, tire-road friction estimation is an essential part of the control distribution scheme. Two adverse driving scenario simulations are used to evaluate the effectiveness of this control system.

A novel vehicle dynamics stability control algorithm based on the hierarchical strategy with constrain of nonlinear tyre forces

Abstract: Direct yaw moment control (DYC), which differentially brakes the wheels to produce a yaw moment for the vehicle stability in a steering process, is an important part of electric stability control system In this field, most control methods utilise the active brake pressure with a feedback controller to adjust the braked wheel However, the method might lead to a control delay or overshoot because of the lack of a quantitative project relationship between target values from the upper stability controller to the lower pressure controller Meanwhile, the stability controller usually ignores the implementing ability of the tyre forces, which might be restrained by the combined-slip dynamics of the tyre Therefore, a novel control algorithm of DYC based on the hierarchical control strategy is brought forward in this paper As for the upper controller, a correctional linear quadratic regulator, which not only contains feedback control but also contains feed forward control, is introduced to deduce the object of