Integrated control design to guarantee vehicle stability is one of the main topics in vehicle control. Actuators saturation is a main concern when dealing with this issue. In this work, we propose a fully integrated control by means of three actuators: Active Front Steering (AFS), Rear Torque Vectoring (RTV) and Semi-Active Suspensions (SAS). A feedback controller is used to ensure, in absence of input saturation, the exponential tracking of the reference trajectories. On top of that, a smart saturation management scheme detects when the actuators approach the occurrence of saturation, and determines a policy to avoid actuator saturations. The performance of the resulting control strategy, that is hybrid in general, is tested in simulation and compared with some classical solutions.
Smart Management of Actuator Saturation in Integrated Vehicle Control
Bianchi D;Borri A;DI BENEDETTO, MARIA DOMENICA;DI GENNARO, Stefano
2011-01-01
Abstract
Integrated control design to guarantee vehicle stability is one of the main topics in vehicle control. Actuators saturation is a main concern when dealing with this issue. In this work, we propose a fully integrated control by means of three actuators: Active Front Steering (AFS), Rear Torque Vectoring (RTV) and Semi-Active Suspensions (SAS). A feedback controller is used to ensure, in absence of input saturation, the exponential tracking of the reference trajectories. On top of that, a smart saturation management scheme detects when the actuators approach the occurrence of saturation, and determines a policy to avoid actuator saturations. The performance of the resulting control strategy, that is hybrid in general, is tested in simulation and compared with some classical solutions.Pubblicazioni consigliate
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