Title: A comparison of alternative strategies for optimal utilisation of tyre friction forces aimed at vehicle lateral-plane motion control

Authors: Javad Ahmadi; Ali Khaki-Sedigh

Addresses: Department of Mechanical Engineering, Payame Noor University, P.O. Box 19395-3697, Tehran, Iran ' Department of Electrical Engineering, K.N. Toosi University of Technology, Seyyed Khandan Bridge, P.O. Box 1355-16315, Shariati Street, Tehran, Iran

Abstract: In this paper, three strategies are analysed and compared for optimal determination of tyre friction forces used for vehicle lateral-plane motion control. The valueability of this determination depends on the feasibility of the solution of a real-time optimisation problem. In strategy (III), the optimisation problem is relaxed from the equality constraints (enforced in strategies (I) and (II)) posed owing to the stabilisation and tracking objectives of the closed loop and instead these objectives are included in the cost function of the optimisation problem. In this way, the problem of the existence of feasible solution encountered in strategy (II) is remedied without infringing the saturation restrictions imposed by the limited physical capability of the tyres and actuators in developing tyre friction forces, which was overlooked in strategy (I). Detailed simulation studies show convincing performance that can be achieved with strategy (III) in physical entire range of operation including mild, moderate and severe manoeuvre conditions.

Keywords: optimal friction forces; tyre friction forces; saturation; feasible solution; vehicle motion; lateral-plane motion; motion control; over-actuation; severe manoeuvres; simulation; vehicle design.

DOI: 10.1504/IJVD.2014.064552

International Journal of Vehicle Design, 2014 Vol.66 No.2, pp.168 - 192

Accepted: 01 Jun 2013
Published online: 30 Oct 2014 *

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