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Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/8323

Title: Exploring assumptions and requirements for continuous modification of vehicle handling using non-linear optimal control and a new exponential tyre model
Authors: Best, Matt C.
Keywords: Vehicle control
Tyre property
Integrated motion control
Issue Date: 2010
Publisher: © Loughborough University / Society of Automotive Engineers of Japan (JSAE)
Citation: BEST, M.C., 2010. Exploring assumptions and requirements for continuous modification of vehicle handling using non-linear optimal control and a new exponential tyre model. IN: Proceedings of the 10th International Symposium on Advanced Vehicle Control (AVEC), Loughborough, UK, 22nd-26th August, pp. 79–84.
Abstract: An iterative simulation-based nonlinear optimisation technique is used here to explore optimally controlled behaviour of a large RWD vehicle with rear steer and idealised differential actuators. A novel tyre model is also introduced, which uses simple analytic functions for separated calculation of lateral and longitudinal force, with both based on the combined slip and vertical load. By first considering suitable transient and steady-state targets for the yaw rate, optimal control is simulated which is effective throughout the lateral acceleration range. Interestingly this can be closely emulated under stable conditions using PID control of rear steer only, according to the yaw rate target and without the need for separate lateral velocity control. PID is no longer successful when stabilising control is considered, so future research will consider an extension to the nonlinear optimisation method for such cases.
Description: This is a conference paper.
Version: Accepted for publication
URI: https://dspace.lboro.ac.uk/2134/8323
Publisher Link: http://www.lboro.ac.uk/departments/tt/avec10/index.html
ISBN: 9780904947656
0904947653
Appears in Collections:Conference Papers and Presentations (Aeronautical and Automotive Engineering)

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