文章基本信息

标题：Reconfigurable Control Design of Steering and Torque Vectoring Based on Reachability Set Analysis
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作者：Balázs Németh ; Péter Gáspár ; Dániel Fenyes 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：3702-3707
DOI：10.1016/j.ifacol.2017.08.565
语种：English
出版社：Elsevier
摘要：AbstractThe paper proposes a reconfigurable control design of steering and torque vectoring using a variable-geometry suspension system. Torque vectoring control is based on the independent driving of the wheels. Simultaneously, the steering angle is generated by the variable-geometry suspension system by varying the camber angle of the front wheels. The efficiency of wheel tilting and torque vectoring, and their coordinated actuation are in the focus of the paper. In the analysis a reachable set computation method on the polynomial model of the vehicle based on the trajectory reversing method and the Sum-of-Squares (SOS) programming is proposed. Based on the analysis results a reconfigurable control is designed using the Linear Parameter Varying (LPV) method.
关键词：KeywordsVariable-geometry suspensionTorque-vectoringReachability analysisReconfigurable control