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Optimal Reconfiguration Control of the Yaw Stability of the Tractor-Semitrailer Vehicle
Author
Source
Mathematical Problems in Engineering
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-23, 23 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-10-02
Country of Publication
Egypt
No. of Pages
23
Main Subjects
Abstract EN
An optimal reconfiguration control scheme based on control allocation (CA) is proposed to stabilize the yaw dynamics of the tractor-semitrailer vehicle.
The proposed control scheme is a two-level structure consisting of an upper level of sliding mode yaw moment controller (SMYC) and a lower optimal brake force distributor (BFD).
The upper SMYC is designed to follow the tractor yaw rate and the combination of the hitch angle and trailer slip angle and outputs the corrective yaw moment, respectively, for the tractor and the trailer.
The optimal brake force allocation and reconfigurable control problem is transformed to a problem of error minimization and control minimization combination formulated by constrained weighted least squares (CWLS) optimization and further solved with active set (AS) algorithm.
Simulation results reveal that the CA technique-based optimal reconfigurable control is rather effective for the tractor-semitrailer vehicle to enhance the yaw stability performance and the reliability in case of actuator failure thanks to the multiple-axle structure enriching the alternatives of possible actuator combinations in CA optimization.
American Psychological Association (APA)
Yang, Xiujian. 2012. Optimal Reconfiguration Control of the Yaw Stability of the Tractor-Semitrailer Vehicle. Mathematical Problems in Engineering،Vol. 2012, no. 2012, pp.1-23.
https://search.emarefa.net/detail/BIM-1001749
Modern Language Association (MLA)
Yang, Xiujian. Optimal Reconfiguration Control of the Yaw Stability of the Tractor-Semitrailer Vehicle. Mathematical Problems in Engineering No. 2012 (2012), pp.1-23.
https://search.emarefa.net/detail/BIM-1001749
American Medical Association (AMA)
Yang, Xiujian. Optimal Reconfiguration Control of the Yaw Stability of the Tractor-Semitrailer Vehicle. Mathematical Problems in Engineering. 2012. Vol. 2012, no. 2012, pp.1-23.
https://search.emarefa.net/detail/BIM-1001749
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1001749