A single input single output formulation for yaw rate and sideslip angle control via torque-vectoring

LENZO, Basilio, SORNIOTTI, Aldo and GRUBER, Patrick (2018). A single input single output formulation for yaw rate and sideslip angle control via torque-vectoring. In: 14th Symposium on Advanced Vehicle Control, Beijing, 16-20 July 2018. (In Press)

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Abstract

Many torque-vectoring controllers are based on the concurrent control of yaw rate and sideslip angle through complex multi-variable control structures. In general, the target is to continuously track a reference yaw rate, and constrain the sideslip angle to remain within thresholds that are critical for vehicle stability. To achieve this objective, this paper presents a single input single output (SISO) formulation, which varies the reference yaw rate to constrain sideslip angle. The performance of the controller is successfully validated through simulations and experimental tests on an electric vehicle prototype with four drivetrains.

Item Type:	Conference or Workshop Item (Paper)
Departments - Does NOT include content added after October 2018:	Faculty of Science, Technology and Arts > Department of Engineering and Mathematics
Depositing User:	Basilio Lenzo
Date Deposited:	23 Aug 2018 13:30
Last Modified:	18 Mar 2021 07:40
URI:	https://shura.shu.ac.uk/id/eprint/21370

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