Moseberg JE, Roppenecker G (2015)
Publication Status: Published
Publication Type: Journal article, Original article
Publication year: 2015
Publisher: Taylor and Francis Ltd.
Book Volume: 53
Pages Range: 1742-1758
Journal Issue: 12
DOI: 10.1080/00423114.2015.1081954
The article presents a cascade control for the horizontal motion of a vehicle with single-wheel actuators. The outer control loop for the longitudinal and lateral accelerations and the yaw rate ensures a desired vehicle motion. By a combination of state feedback control and observer-based disturbance feedforward the inner control loop robustly stabilises the rotating and steering motions of the wheels in spite of unknown frictions between tyres and ground. Since the three degrees of freedom of the horizontal motion are affected by eight tyre forces, the vehicle considered is an over-actuated system. Thus additional control objectives can be realised besides the desired motion trajectory as, for example, a maximum in driving safety. The corresponding analytical tyre force allocation also guarantees real-time capability because of its relatively low computational effort. Provided suitable fault detection and isolation are available, the proposed cascade control has the potential of fault-tolerance, because the force allocation is adaptable. Another benefit results from the modular control structure, because it allows a stepwise implementation. Besides, it only requires a small number of measurements for control purposes. These measurements are the rotational speeds and steering angles of the wheels, the longitudinal and lateral acceleration and the yaw rate of the vehicle.
APA:
Moseberg, J.-E., & Roppenecker, G. (2015). Robust cascade control for the horizontal motion of a vehicle with single-wheel actuators. Vehicle System Dynamics, 53(12), 1742-1758. https://dx.doi.org/10.1080/00423114.2015.1081954
MLA:
Moseberg, Jan-Erik, and Günter Roppenecker. "Robust cascade control for the horizontal motion of a vehicle with single-wheel actuators." Vehicle System Dynamics 53.12 (2015): 1742-1758.
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