Nonlinear adaptive optimal control for vehicle handling improvement through steer-by-wire system

Abstract

A control algorithm for improving vehicle handling was proposed by applying right angle to the steering wheel, based on the nonlinear adaptive optimal control (NAOC). A nonlinear 4-DOF model was initially developed, then it was simplified to a 2-DOF model with reasonable assumptions to design observer and optimal controllers. Then a simplified model was developed for steering system. The numerical simulations were carried out using vehicle parameters for standard maneuvers in dry and wet road conditions. Moreover, the hardware in the loop method was implemented to prove the controller ability in realistic conditions. Simulation results obviously show the effectiveness of NAOC on vehicle handling and reveal that the proposed controller can significantly improve vehicle handling during severe maneuvers.

Keywords

handling / vehicle / steer-by-wire / controller / nonlinear adaptive optimal control hardware / loop method

References

[1] KazemiR, JanbakhshA A. Nonlinear adaptive sliding mode control for vehicle handling improvement via steer-by-wire [J]. International Journal of Automotive Technology, 2010, 11(3): 345-354

[2] YaoY. Vehicle steer-by-wire system control [J]. SAE Technical Paper Series, 2006

[3] YihPSteer-by-wire: Implications for vehicle handling and safety [D], 2005, Stanford, Stanford University

[4] QiuX, YuM, ZhangZ, RuanJ. Research on steering control and simulation of vehicle steer-by-wire system [C]. 7th International Conference on MEMS, NANO and Smart Systems, ICMENS 2011. Kuala Lumpur, 2011403-408

[5] MarumoY A, KatagiriN. Control effects of steer-by-wire system for motorcycles on lane-keeping performance [J]. Vehicle System Dynamics, 2011, 49(8): 1283-1298

[6] SalaamiM K, GuentherD A, HeydingerG J. Vehicle dynamics modeling for the national advanced driving simulator of a 1997 jeep cherokee [J]. SAE Paper, 1999

[7] RajmaniRVehicle dynamic and control [M], 2006, New York, Springer: 467-471

[8] WongJ YTheory of ground vehicles [M], 2001, USA, John Wiley & Sons, Inc: 30-72

[9] PacejkaH BTyre and vehicle dynamics [M], 2002, Oxford, Butterworth Heinemann: 90-155

[10] KirkEOptimal control theory: An introduction [M], 1970, Englewood Cliffs, Prentice-hall, Inc: 53-309

[11] EsmailzadehE, GoodarziA, VossoughiG R. Optimal yaw moment control law for improved vehicle handling [J]. Int J Mechatronics, 2003, 13: 659-675

[12] SlotineJ J, LiWApplied nonlinear control [M], 19921st edEnglewood Cliffs, Prentice Hall International Inc: 311-388

[13] BayaniMDesigning vehicle stabilizer controller estimator [D], 2007, Tehran, Mechanic Engineering Department, K. N. Toosi University of Technology

[14] NHTSA.A comprehensive evaluation of test maneuver that may include on-road, untripped, light vehicle rollover [R], 2002, Washington DC, National Highway Traffic Safety Administration

[15] ChenB C, PengH. Differential-braking-based rollover prevention for sport utility vehicles with human-in-the-loop evaluations [J]. Vehicle System Dynamics, 2001, 36(4/5): 359-389

[16] BroganW LModern control theory [M], 1991, Englewood Cliffs, Prentice-hall: 373-383

[17] ChangS C. Synchronization in a steer-by-wire vehicle dynamic system [J]. International Journal of Engineering Science, 2007, 45: 628-643