Title: Control allocation in ground vehicles

Authors: John H. Plumlee, David M. Bevly, A. Scottedward Hodel

Addresses: Sparta, Inc., 6000 Technology Drive, Building 3, Huntsville, AL 35805, USA. ' Department of Mechanical Engineering, Auburn University, AL 36849, USA. ' Department of Electrical and Computer Engineering, 200 Broun Hall, Auburn University, AL 36849-5201, USA

Abstract: We examine the use of quadratic programming (QP)-based control allocation for ground vehicles with multiple inputs. This control problem is relevant for safety systems, such as stability control and driver assistance technologies, and autonomous vehicle control. The control objective is to track a desired yaw rate trajectory while minimising vehicle side slip. The proposed QP-based control allocation law is simulated in a closed loop with a non-linear vehicle. Vehicle attitude commands are generated by a linear quadratic regulator whose gains are designed around a linear vehicle model to arrive at a combination of vehicle commands. The closed loop system is tested on three simulated vehicle models each possessing different input capabilities. The simulation tests include both nominal and failure scenarios of operation.

Keywords: control allocation; ground vehicles; quadratic programming; vehicle design; safety systems; stability control; driver assistance; autonomous vehicle control; yaw rate; trajectory tracking; side slip; simulation; nonlinear vehicles; vehicle modelling.

DOI: 10.1504/IJVD.2006.010431

International Journal of Vehicle Design, 2006 Vol.42 No.3/4, pp.215 - 243

Available online: 21 Jul 2006

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