eprintid: 1307
rev_number: 9
eprint_status: archive
userid: 6
dir: disk0/00/00/13/07
datestamp: 2012-07-03 09:04:30
lastmod: 2016-04-06 10:26:52
status_changed: 2013-06-18 08:55:58
type: article
metadata_visibility: show
creators_name: Di Cairano, Stefano
creators_name: Tseng, H. E.
creators_name: Bernardini, Daniele
creators_name: Bemporad, Alberto
creators_id: 
creators_id: 
creators_id: daniele.bernardini@imtlucca.it
creators_id: alberto.bemporad@imtlucca.it
title: Vehicle yaw stability control by coordinated active front steering and differential braking in the tire sideslip angles domain 
ispublished: pub
subjects: TL
divisions: CSA
full_text_status: none
keywords: Automotive controls, hybrid control systems, model predictive control, vehicle stability control. 
abstract: 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.
date: 2013-06
date_type: published
publication: IEEE Transactions on Control Systems Technology 
volume: 21
number: 4
publisher: IEEE
pagerange: 1236-1248
id_number: 10.1109/TCST.2012.2198886
refereed: TRUE
issn: 1063-6536
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6217300&isnumber=6532340
citation:   Di Cairano, Stefano and Tseng, H. E. and Bernardini, Daniele and Bemporad, Alberto  Vehicle yaw stability control by coordinated active front steering and differential braking in the tire sideslip angles domain.  IEEE Transactions on Control Systems Technology , 21 (4).  pp. 1236-1248.  ISSN 1063-6536      (2013)