Reconfigurable Control Design of Steering and Torque Vectoring Based on Reachability Set Analysis

Balázs Németh, P. Gáspár, Dániel Fenyes, József Bokor

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

The 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.

Original languageEnglish
Pages (from-to)3702-3707
Number of pages6
JournalIFAC-PapersOnLine
Volume50
Issue number1
DOIs
Publication statusPublished - Jul 1 2017

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Keywords

  • Reachability analysis
  • Reconfigurable control
  • Torque-vectoring
  • Variable-geometry suspension

ASJC Scopus subject areas

  • Control and Systems Engineering

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