A constrained wheel torque controller for lane following system using control distribution

Proceedings of the 2010 American Control Conference, ACC 2010

Volumn , Issue , 2010, Pages 997-1002

  Hsu, Ling Yuan ^a   Weng, Kent ^b   Chen, Tsung Lin ^a  

^a NATIONAL CHIAO TUNG UNIVERSITY   (Taiwan)

^b Quanta Storage Incorporation ^*  (Taiwan)

Author keywords

[No Author keywords available]

Indexed keywords

ANALYTICAL SOLUTIONS; COMMERCIAL SOFTWARE; CONTROL ALGORITHMS; HIERARCHICAL ARCHITECTURES; HIERARCHICAL CONTROL ARCHITECTURE; INITIAL SPEED; LANE CHANGE; LANE FOLLOWING; NUMERICAL SEARCH; REFERENCE TRAJECTORIES; SIMULATION RESULT; TORQUE CONTROLLERS; VEHICLE MODEL; WHEEL DRIVES;

COMPUTER SIMULATION; VEHICLES; WHEELS;

CONTROLLERS;

EID: 77957792365     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (12)

1. P. Raksincharoensak, M. Nagai, and M. Shino, Lane keeping control strategy with direct yaw moment control input by considering dynamics of electric vehicle, Vehicle System Dynamics, Vol. 44, Supplement, 2006, pp. 192-201.
2. J. Yoon and K. Yi, "A rollover mitigation control scheme based on rollover index," in American Control Conference, Minneapolis, Minnesota, USA, 2006, pp. 5372-5377. (Pubitemid 46531676)
3. M. Schorn, U. Stählin, A. Khanafer, and R. Isermann, "Nonlinear trajectory following control for automatic steering of a collision avoiding vehicle," in American Control Conference, Minneapolis, Minnesota, USA, 2006, pp. 5837-5842.
4. Y. Hayakawa, R. White, T. Kimura, and G. Naito, Driver-compatiable steering system for wide speed-range path following, IEEE/ASME Transactions on Mechatronics, vol. 9, no. 3, 2004, pp. 544-552.
5. J. Wang and R. G. Longoria, "Coordinated vehicle dynamics control with control distribution," in American Control Conference, Minneapolis, Minnesota, USA, 2006, pp. 5348-5353.
6. J. Fredriksson, J. Andreasson and L. Laine, "Wheel force distribution for improved handling in a hybrid electric vehicle using nonlinear control," in IEEE Conference on Decision and Control, Atlantis, Paradise Island, Bahamas, 2004, pp. 4081-4086.
7. O. Mokhiamar and M. Abe, Simultaneous optimal distribution of lateral and longitudinal tire forces for the model following control, ASME Journal of Dynamic Systems, Measurment, and Control, vol. 126, 2004, pp. 753-763.
8. J. W. Grzywna, N. M. Ivano, E. M. Schwartz and A. A. Arroyo, "KELVIN: A second generation land vehicle," in Florida Conference on Recent Advances in Robotics, Florida, 2002.
9. H. Dugoff, P. S. Fancher, and L. Segel, An anlysis of tire traction properties and their influence on vehicle dynamic performance, SAE Paper 700377, 1970.
10. E. K. P. Chong and S. H. Zak, An Introduction to Optimization, Wiley-Interscience, John Wiley & Sons, NY; 2001.
11. R. L. Rardin, Optimization in Operations Research, Prentice Hall, Upper Saddle River, NJ; 1998.
12. L.-Y. Hsu, and T.-L. Chen, Vehicle full-state estimation and prediction system using state observers, IEEE Transaction on Vehicular Technology, vol. 58, no. 6, 2009, pp. 2651-2662.