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Global Chassis Control Based on Inverse Vehicle Dynamics Models

Andreasson, Johan and Bünte, Tilman (2005) Global Chassis Control Based on Inverse Vehicle Dynamics Models. In: Supplement to Vehicle System Dynamics (44). 19th IAVSD Symposium, 2005-08-29 - 2005-09-02, Milan (Italy).

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This work proposes to approach Global Chassis Control (GCC) by means of model inversion based feedforward with allocation directly on the actuator commands. The available degrees of freedom are used to execute the desired vehicle motion while minimizing the utilization of the tyre's grip potential. This is done by sampled constrained least-squares optimization of the linearized problem. For compensation of model errors and external disturbances, high gain feedback is applied by means of an Inverse Disturbance Observer. The presented method is applied on a comparison of eight vehicles with different conguration of actuators for steer, drive, brake and load distribution. The approach shows a transparent and effective way to deal with the complex issue of GCC in a unitized way. It gives both a base for controller design and a structured way to compare different configurations. In practice, the transparency supports automatic on-board reconfiguration in case of actuator hardware failure.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Global Chassis Control Based on Inverse Vehicle Dynamics Models
AuthorsInstitution or Email of Authors
Andreasson, JohanKTH Vehicle Dynamics, Stockholm
Journal or Publication Title:Supplement to Vehicle System Dynamics
Refereed publication:Yes
In ISI Web of Science:Yes
Keywords:Global Chassis Control
Event Title:19th IAVSD Symposium
Event Location:Milan (Italy)
Event Type:international Conference
Event Dates:2005-08-29 - 2005-09-02
Organizer:Politecnico die Milano
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:V SH - Verbesserung der Sicherheit im Verkehr (old)
DLR - Research area:Transport
DLR - Program:V SH - Verbesserung der Sicherheit im Verkehr
DLR - Research theme (Project):V - ViFa (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > System Dynamics and Control (former Control Design Engineering)
Deposited By: Monika Klauer
Deposited On:15 Oct 2008
Last Modified:12 Dec 2013 20:20

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