On the experimental analysis of single input single output control of yaw rate and sideslip angle

LENZO, Basilio, SORNIOTTI, Aldo, GRUBER, Patrick and SANNEN, Koen (2017). On the experimental analysis of single input single output control of yaw rate and sideslip angle. International Journal of Automotive Technology, 18 (5), 799-811.

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Link to published version:: https://doi.org/10.1007/s12239-017-0079-4


Electric vehicles with individually controlled drivetrains allow torque-vectoring, which improves vehicle safety and drivability. This paper investigates a new approach to the concurrent control of yaw rate and sideslip angle. The proposed controller is a simple single input single output (SISO) yaw rate controller, in which the reference yaw rate depends on the vehicle handling requirements, and the actual sideslip angle. The sideslip contribution enhances safety, as it provides a corrective action in critical situations, e.g., in case of oversteer during extreme cornering on a low friction surface. The proposed controller is experimentally assessed on an electric vehicle demonstrator, along two maneuvers with quickly variable tire-road friction coefficient. Different longitudinal locations of the sideslip angle used as control variable are compared during the experiments. Results show that: i) the proposed SISO approach provides significant improvements with respect to the vehicle without torque-vectoring, and the controlled vehicle with a reference yaw rate solely based on the handling requirements for high-friction maneuvering; and ii) the control of the rear axle sideslip angle provides better performance than the control of the sideslip angle at the centre of gravity.

Item Type: Article
Departments - Does NOT include content added after October 2018: Faculty of Science, Technology and Arts > Department of Engineering and Mathematics
Identification Number: https://doi.org/10.1007/s12239-017-0079-4
Page Range: 799-811
Depositing User: Basilio Lenzo
Date Deposited: 27 Feb 2017 16:22
Last Modified: 18 Mar 2021 07:50
URI: https://shura.shu.ac.uk/id/eprint/15253

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