title: Optimized coordination of brakes and active steering for a 4WS passenger car.
abstract: Optimum coordination of individual brakes and front/rear steering subsystems is presented. The integrated control strategy consists of three modules. A coordinated high-level control determines the body forces/moment required to achieve vehicle motion objectives. The body forces/moment are allocated to braking and steering subsystems through an intermediate unit, which integrates available subsystems based on phase plane notion in an optimal manner. To this end, an optimization problem including several equality and inequality constraints is defined and solved analytically, such that a real-time implementation can be realized without the use of numeric optimization software. A low-level slip-ratio controller works to generate the desired longitudinal forces at small longitudinal slip-ratios, while averting wheel locking at large slip-ratios. The efficiency of the suggested approach is demonstrated through computer simulations.
authors: Department of Mechanical Engineering, Amirkabir University of Technology, 424 Hafez Avenue, Tehran 15914, Iran.
authors: Ali
authors: A
authors: Tavasoli
authors: Mahyar
authors: M
authors: Naraghi
authors: Heman
authors: H
authors: Shakeri
mesh_terms: D000465:Algorithms; D001336:Automobiles; D003198:Computer Simulation; D005246:Feedback; D008962:Models, Theoretical; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*