Experimental evaluation of optimal Vehicle Dynamic Control based on the State Dependent Riccati Equation technique

M. Alirezaei, S. Kanarachos, B. Scheepers, J. P. Maurice

Research output: Chapter in Book/Report/Conference proceedingConference proceedingpeer-review

11 Citations (Scopus)


Development and experimentally evaluation of an optimal Vehicle Dynamic Control (VDC) strategy based on the State Dependent Riccati Equation (SDRE) control technique is presented. The proposed nonlinear controller is based on a nonlinear vehicle model with nonlinear tire characteristics. A novel extended linearization scheme of the system's state space equations on the basis of the combined slip Pacejka tire model is developed. On-line control regulation in terms of optimal braking torque allocation is computed at each time increment by solving efficiently an Algebraic Riccati Equation. The proposed method is implemented and tested on a Jaguar XF test vehicle. The results show the effectiveness of the proposed controller in stabilizing the vehicle with less effect on the vehicle longitudinal motion.

Original languageEnglish
Title of host publication2013 American Control Conference, ACC 2013
Number of pages5
ISBN (Print)9781479901777
Publication statusPublished - 2013
Externally publishedYes
Event2013 1st American Control Conference - Washington, DC, United States
Duration: 17 Jun 201319 Jun 2013


Conference2013 1st American Control Conference
Abbreviated titleACC 2013
Country/TerritoryUnited States
CityWashington, DC


  • Vehicles
  • Tires
  • Wheels
  • Riccati equations
  • Mathematical model
  • Vehicle dynamics
  • Computational modeling

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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