標題: Robust Wheel Torque Control for Traction/Braking Force Tracking Under Combined Longitudinal and Lateral Motion
作者: Hsiao, Tesheng
電機資訊學士班
Undergraduate Honors Program of Electrical Engineering and Computer Science
關鍵字: Active safety system;longitudinal tire force control;longitudinal tire force estimation;slip ratio control;vehicle control system;wheel torque control
公開日期: 1-六月-2015
摘要: Slip-ratio-based methods are commonly used to control the wheel torque such that the wheel dynamics is stabilized and the desired traction/braking force is attained; however, slip-ratio-based controllers are incompetent for precise longitudinal tire force tracking due to nonparametric tire model uncertainties. Force tracking performance further deteriorates whenever the tire is under combined longitudinal and lateral motion. In this paper, we propose an observer-based tire force control scheme that guarantees to achieve the desired longitudinal tire force accurately and robustly with respect to tire model uncertainties, changes in road conditions, and simultaneous lateral motion. Convergence of the force estimation and tracking errors is rigorously proved by the Lyapunov method. Then, simulations are conducted to verify the robust and accurate performance in longitudinal tire force estimation and tracking under a series of severe driving conditions.
URI: http://dx.doi.org/10.1109/TITS.2014.2361515
http://hdl.handle.net/11536/128183
ISSN: 1524-9050
DOI: 10.1109/TITS.2014.2361515
期刊: IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
Volume: 16
起始頁: 1335
結束頁: 1347
顯示於類別:期刊論文