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Adaptive yaw stability control by coordination of active steering and braking with an optimized lower‐level controller
Author(s) -
Ahmadian Narjes,
Khosravi Alireza,
Sarhadi Pouria
Publication year - 2020
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.3154
Subject(s) - control theory (sociology) , controller (irrigation) , automobile handling , yaw , torque , engineering , stability (learning theory) , electronic stability control , active steering , vehicle dynamics , brake , moment (physics) , adaptive control , control (management) , automotive engineering , control engineering , computer science , physics , classical mechanics , artificial intelligence , machine learning , agronomy , biology , thermodynamics
Summary In this article, an integrated multiinput multioutput model reference adaptive control algorithm is presented based on active front steering and effective direct yaw moment distribution as an advanced driver assistance system. Vehicle parameter uncertainties in mass and tire‐road friction coefficient are considered through adaptation laws at the upper level in the control structure. The efficient distribution of yaw moment on the rear wheels is performed via a constrained optimization at the lower control level. Control commands are executed by additive steering angle on front wheels and brake torque applied on one of the rear wheels. Simulation results for different lateral maneuvers are employed for the evaluation of the proposed adaptive control method. The performance of the integrated control algorithm to enhance vehicle handling and stability is shown on various road conditions.