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Optimal control allocation in vehicle dynamics control for rollover mitigation

Publiceringsår: 2008
Språk: Engelska
Sidor: 3231-3236
Publikation/Tidskrift/Serie: American Control Conference, 2007, vols 1-13
Dokumenttyp: Konferensbidrag
Förlag: IEEE--Institute of Electrical and Electronics Engineers Inc.


Vehicle dynamics control systems, previously only intended for yaw stabilization, are now being extended to incorporate rollover mitigation via braking. Current systems typically use a heuristic approach to control allocation, often utilizing only a subset of the available actuators. In this article a computationally-efficient, optimization-based control allocation strategy is used to map controller commands to braking forces on all four wheels, taking into account actuator constraints. Simulations show that the strategy is capable of preventing vehicle rollover for various standard test manoeuvres.


  • Control Engineering


American Control Conference 2008
  • LCCC-lup-obsolete
  • ISSN: 0743-1619
  • ISBN: 978-1-4244-2078-0

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