Moseberg JE, Roppenecker G (2014)
Publication Status: Published
Publication Type: Conference contribution, Conference Contribution
Publication year: 2014
Publisher: IFAC Secretariat
Book Volume: 19
Pages Range: 6283-6288
ISBN: 9783902823625
For the horizontal motion of a vehicle with single-wheel actuators a model-based feed-forward control is derived. Using the accelerator and brake pedal position as well as the steering wheel angle, the feed-forward control generates a desired vehicle motion together with appropriate longitudinal and lateral forces on the vehicle mass and a corresponding yaw moment. Since no detailed vehicle model, e.g., the single-track model, is required it is possible to tune the horizontal vehicle dynamics arbitrarily without changing the vehicle's geometry. Subsequently, the obtained forces and the yaw moment are allocated to the eight horizontal tire forces. Since the vehicle considered is over-actuated a secondary objective, i.e., the safety maximization, can be pursued in addition to realizing the desired vehicle motion. Solving this optimization problem numerically in a real vehicle is time-critical, so an analytical solution is introduced.
APA:
Moseberg, J.-E., & Roppenecker, G. (2014). Feed-forward control of a vehicle with single-wheel actuators. In Proceedings of the 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 (pp. 6283-6288). IFAC Secretariat.
MLA:
Moseberg, Jan-Erik, and Günter Roppenecker. "Feed-forward control of a vehicle with single-wheel actuators." Proceedings of the 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 IFAC Secretariat, 2014. 6283-6288.
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