Open AccessDirect Yaw Control of Vehicle using State Dependent Riccati Equation with Integral Terms
Author(s) -
Fargham Sandhu,
Hazlina Selamat,
Vahid Behtaji Siahkal Mahalleh
Publication year - 2016
Publication title -
advances in electrical and computer engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.254
H-Index - 23
eISSN - 1844-7600
pISSN - 1582-7445
DOI - 10.4316/aece.2016.02014
Subject(s) - riccati equation , algebraic riccati equation , control theory (sociology) , state (computer science) , state dependent , control (management) , linear quadratic regulator , integral equation , mathematics , computer science , mathematical analysis , differential equation , mathematical economics , artificial intelligence , algorithm
Direct yaw control of four-wheel vehicles using optimal controllers such as the linear quadratic regulator (LQR) and the sliding mode controller (SMC) either considers only certain parameters constant in the nonlinear equations of vehicle model or totally neglect their effects to obtain simplified models, resulting in loss of states for the system. In this paper, a modified state-dependent Ricatti equation method obtained by the simplification of the vehicle model is proposed. This method overcomes the problem of the lost states by including state integrals. The results of the proposed system are compared with the sliding mode slip controller and state-dependent Ricatti equation method using high fidelity vehicle model in the vehicle simulation software package, Carsim. Results show 38% reduction in the lateral velocity, 34% reduction in roll and 16% reduction in excessive yaw by only increasing the fuel consumption by 6.07%