Vehicle longitudinal dynamics control based on LQ

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00332652" target="_blank" >RIV/68407700:21230/19:00332652 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/PC.2019.8815044" target="_blank" >http://dx.doi.org/10.1109/PC.2019.8815044</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/PC.2019.8815044" target="_blank" >10.1109/PC.2019.8815044</a>

Result language
angličtina
Original language name
Vehicle longitudinal dynamics control based on LQ
Original language description
Trend of autonomous vehicles and e-mobility is in favor of an advanced control system development and deployment. Vehicle dynamics level control systems providing safety limits and high performance response, especially during high dynamics maneuvers, are necessary. This work provides solution for vehicle longitudinal dynamics (vehicle acceleration) considering physical limits given by road, tire and vehicle dynamics respectively. The goal is to maximize vehicle longitudinal acceleration by controlling each wheel longitudinal slip ratio. Considered mathematical model is non-linear single track model incorporating non-linear Pacejka magic formula as a tire model. Design model for control system is derived as a linearized state-space model at constant acceleration operation point. Therefore, the common linearization approach, at system equilibrium, is not possible and the linearization along system trajectory is used. Such solution results in involvement of LPV techniques, as vehicle velocity is state variable. Finally, the LQ optimal control framework is employed to deliver control algorithms providing constant vehicle acceleration trajectory tracing. This is accomplished by longitudinal slip ratio control for each wheel.
Czech name
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Czech description
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Project
<a href="/en/project/GA19-18424S" target="_blank" >GA19-18424S: Distributed Control of Vehicle Formations and Networked Systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 22nd International Conference on Process Control
ISBN
978-1-7281-3758-2
ISSN
—
e-ISSN
—
Number of pages
6
Pages from-to
179-184
Publisher name
IEEE
Place of publication
Piscataway, NJ
Event location
Štrbské Pleso
Event date
Jun 11, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000539039300032

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