Nonlinear optimal integrated vehicle control using individual braking torque and steering angle with on-line control allocation by using state-dependent Riccati equation technique

Abstract

This paper proposes the solution of state-dependent Riccati equation as a nonlinear optimal regulator to stabilise the motion dynamics of the vehicle model subjected to sudden disturbance inputs in the lateral direction. The proposed nonlinear regulator coordinates individually actuated wheel braking torque and steering wheel angle simultaneously in an optimal manner. Performance criteria are satisfied by solving the Riccati equation based on the given cost function subjected to the nonlinear vehicle dynamics. On-line control allocation in terms of optimal brake torque distribution enhanced by optimal wheel steering angle input is achieved. Furthermore, the proposed optimal nonlinear regulator is an active fault-tolerant control system against partial by-wire actuator failures while guaranteeing stability with good performance due to its capability to allocate the individual control inputs in an optimal way. The main aim is to stabilise the motion dynamics of the vehicle model during short-term emergency situations along the desired straight trajectory manageable by average drivers and to provide vehicle stability and handling predictability through the interaction of individual wheel braking and steering actuators. Simulation results are used to illustrate the effectiveness of the proposed methodology.

Keywords:

• state-dependent Riccati equation
• optimal control
• vehicle dynamics
• robustness
• faulttolerant control

Acknowledgements

The author gratefully acknowledges the support of The Scientific and Technological Research Council of Turkey, TUBITAK, under grant no: 106E121 and support of the European Union Framework Programme 6 through the AUTOCOM SSA project (INCO project no: 16426).