TY  - JOUR
SP  - 1236
A1  - Di Cairano, Stefano
A1  - Tseng, H. E.
A1  - Bernardini, Daniele
A1  - Bemporad, Alberto
PB  - IEEE
JF  - IEEE Transactions on Control Systems Technology 
IS  - 4
Y1  - 2013/06//
VL  - 21
N2  - Vehicle active safety receives ever increasing attention in the attempt to achieve zero accidents on the road. In this paper, we investigate a control architecture that has the potential of improving yaw stability control by achieving faster convergence and reduced impact on the longitudinal dynamics. We consider a system where active front steering and differential braking are available and propose a model predictive control (MPC) strategy to coordinate the actuators. We formulate the vehicle dynamics with respect to the tire slip angles and use a piecewise affine (PWA) approximation of the tire force characteristics. The resulting PWA system is used as prediction model in a hybrid MPC strategy. After assessing the benefits of the proposed approach, we synthesize the controller by using a switched MPC strategy, where the tire conditions (linear/saturated) are assumed not to change during the prediction horizon. The assessment of the controller computational load and memory requirements indicates that it is capable of real-time execution in automotive-grade electronic control units. Experimental tests in different maneuvers executed on low-friction surfaces demonstrate the high performance of the controller.
SN  - 1063-6536
UR  - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6217300&isnumber=6532340
AV  - none
TI  - Vehicle yaw stability control by coordinated active front steering and differential braking in the tire sideslip angles domain 
KW  - Automotive controls
KW  -  hybrid control systems
KW  -  model predictive control
KW  -  vehicle stability control. 
EP  - 1248
ID  - eprints1307
ER  -