Vehicle stability during cornering highly depends on vehicle yaw rate and sideslip angle. Direct Yaw Control (DYC) has been shown effective for controlling yaw rate and sideslip angle. In this paper, a nonlinear optimal control (NOC) method is applied to an electric vehicle model for concurrent control of yaw rate and sideslip angle in critical driving manoeuvres. This controller uses the nonlinear freezing technique to track the vehicle yaw rate and sideslip angle reference values. The performance of the proposed NOC is compared against conventional controllers along challenging step steer and double lane change tests. Simulation results highlight the potential of the proposed controller in terms of yaw rate tracking, faster transient response and steady-state error.
Nonlinear Concurrent Control of Yaw and Lateral Dynamics of Electric Vehicles
Righetti G.;Lenzo B.
;
2024
Abstract
Vehicle stability during cornering highly depends on vehicle yaw rate and sideslip angle. Direct Yaw Control (DYC) has been shown effective for controlling yaw rate and sideslip angle. In this paper, a nonlinear optimal control (NOC) method is applied to an electric vehicle model for concurrent control of yaw rate and sideslip angle in critical driving manoeuvres. This controller uses the nonlinear freezing technique to track the vehicle yaw rate and sideslip angle reference values. The performance of the proposed NOC is compared against conventional controllers along challenging step steer and double lane change tests. Simulation results highlight the potential of the proposed controller in terms of yaw rate tracking, faster transient response and steady-state error.Pubblicazioni consigliate
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