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

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

doi:10.1109/ACC.2013.6579871

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

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

Netherlands Organisation for Applied Scientific Research

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

11 Citations (Scopus)

Abstract

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 language	English
Title of host publication	2013 American Control Conference, ACC 2013
Publisher	IEEE
Pages	408-412
Number of pages	5
ISBN (Print)	9781479901777
DOIs	https://doi.org/10.1109/ACC.2013.6579871
Publication status	Published - 2013
Externally published	Yes
Event	2013 1st American Control Conference - Washington, DC, United States Duration: 17 Jun 2013 → 19 Jun 2013

Conference

Conference	2013 1st American Control Conference
Abbreviated title	ACC 2013
Country/Territory	United States
City	Washington, DC
Period	17/06/13 → 19/06/13

Keywords

Vehicles
Tires
Wheels
Riccati equations
Mathematical model
Vehicle dynamics
Computational modeling

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/ACC.2013.6579871

Cite this

Alirezaei, M, Kanarachos, S, Scheepers, B & Maurice, JP 2013, Experimental evaluation of optimal Vehicle Dynamic Control based on the State Dependent Riccati Equation technique. in 2013 American Control Conference, ACC 2013., 6579871, IEEE, pp. 408-412, 2013 1st American Control Conference, Washington, DC, District of Columbia, United States, 17/06/13. https://doi.org/10.1109/ACC.2013.6579871

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title = "Experimental evaluation of optimal Vehicle Dynamic Control based on the State Dependent Riccati Equation technique",

abstract = "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.",

keywords = "Vehicles, Tires, Wheels, Riccati equations, Mathematical model, Vehicle dynamics, Computational modeling",

author = "M. Alirezaei and S. Kanarachos and B. Scheepers and Maurice, {J. P.}",

year = "2013",

doi = "10.1109/ACC.2013.6579871",

language = "English",

isbn = "9781479901777",

pages = "408--412",

booktitle = "2013 American Control Conference, ACC 2013",

publisher = "IEEE",

address = "United States",

note = "2013 1st American Control Conference, ACC 2013 ; Conference date: 17-06-2013 Through 19-06-2013",

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AU - Alirezaei, M.

AU - Kanarachos, S.

AU - Scheepers, B.

AU - Maurice, J. P.

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

KW - Vehicles

KW - Tires

KW - Wheels

KW - Riccati equations

KW - Mathematical model

KW - Vehicle dynamics

KW - Computational modeling

U2 - 10.1109/ACC.2013.6579871

DO - 10.1109/ACC.2013.6579871

M3 - Conference proceeding

AN - SCOPUS:84883524053

SN - 9781479901777

SP - 408

EP - 412

BT - 2013 American Control Conference, ACC 2013

PB - IEEE

T2 - 2013 1st American Control Conference

Y2 - 17 June 2013 through 19 June 2013

ER -

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

Abstract

Conference

Keywords

ASJC Scopus subject areas

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