Integrated vehicle dynamics control using State Dependent Riccati Equations
conference paper
In this paper we discuss a State Dependent Riccati Equations (SDRE) solution for Integrated Vehicle Dynamics Control (IVDC). The SDRE approach is a nonlinear variant of the well known Linear Quadratic Regulator (LQR) and implements a quadratic cost function optimization. A modified version of this method is discussed and implemented for both active steering and braking. The cost function is derived and the vehicle model is given. Based on this model a controller is constructed and simulations are done to verify the performance of the controller. This controller is then implemented and tested on a Jaguar XF test vehicle. The results show that this approach can be successfully used to build an integrated control system to stabilize a passenger car using braking, front wheel steering and future actuator systems like active suspension and rear wheel steering.
TNO Identifier
462106
Source title
10th International Symposium on Advanced Vehicle Control, AVEC10, 22-26 August 2010, Loughborough, UK
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