Yaw Rate and Sideslip Angle Control Through Single Input Single Output Direct Yaw Moment Control

LENZO, Basilio, ZANCHETTA, Mattia, SORNIOTTI, Aldo, GRUBER, Patrick and DE NIJS, Wouter (2020). Yaw Rate and Sideslip Angle Control Through Single Input Single Output Direct Yaw Moment Control. IEEE Transactions on Control Systems Technology, 1-16.

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Link to published version:: https://doi.org/10.1109/tcst.2019.2949539


Electric vehicles with independently controlled drivetrains allow torque vectoring, which enhances active safety and handling qualities. This article proposes an approach for the concurrent control of yaw rate and sideslip angle based on a single-input single-output (SISO) yaw rate controller. With the SISO formulation, the reference yaw rate is first defined according to the vehicle handling requirements and is then corrected based on the actual sideslip angle. The sideslip angle contribution guarantees a prompt corrective action in critical situations such as incipient vehicle oversteer during limit cornering in low tire-road friction conditions. A design methodology in the frequency domain is discussed, including stability analysis based on the theory of switched linear systems. The performance of the control structure is assessed via: 1) phase-plane plots obtained with a nonlinear vehicle model; 2) simulations with an experimentally validated model, including multiple feedback control structures; and 3) experimental tests on an electric vehicle demonstrator along step steer maneuvers with purposely induced and controlled vehicle drift. Results show that the SISO controller allows constraining the sideslip angle within the predetermined thresholds and yields tire-road friction adaptation with all the considered feedback controllers.

Item Type: Article
Uncontrolled Keywords: 0906 Electrical and Electronic Engineering; 0102 Applied Mathematics; Industrial Engineering & Automation
Identification Number: https://doi.org/10.1109/tcst.2019.2949539
Page Range: 1-16
SWORD Depositor: Symplectic Elements
Depositing User: Symplectic Elements
Date Deposited: 25 Feb 2020 14:21
Last Modified: 18 Mar 2021 02:32
URI: https://shura.shu.ac.uk/id/eprint/25880

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