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http://dx.doi.org/10.22680/kasa2022.14.4.053

Integrated Control of Torque Vectoring and Rear Wheel Steering Using Model Predictive Control  

Hyunsoo, Cha (서울대학교 기계공학부)
Jayu, Kim (서울대학교 기계공학부)
Kyongsu, Yi (서울대학교 기계공학부)
Publication Information
Journal of Auto-vehicle Safety Association / v.14, no.4, 2022 , pp. 53-59 More about this Journal
Abstract
This paper describes an integrated control of torque vectoring and rear wheel steering using model predictive control. The control objective is to minimize the yaw rate and body side slip angle errors with chattering alleviation. The proposed model predictive controller is devised using a linear parameter-varying (LPV) vehicle model with real time estimation of the varying model parameters. The proposed controller has been investigated via computer simulations. In the simulation results, the performance of the proposed controller has been compared with uncontrolled cases. The simulation results show that the proposed algorithm can improve the lateral stability and handling performance.
Keywords
Model predictive control; Lateral stability control; Torque vectoring; Rear wheel steering;
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