Optimal reconfiguration control of the yaw stability of the tractor-semitrailer vehicle
type: Item
instance of: scholarly article
title: Optimal reconfiguration control of the yaw stability of the tractor-semitrailer vehicle
zbMATH Open document ID: 1264.93184
DOI: 10.1155/2012/602502
author: Xiujian Yang
published in: Mathematical Problems in Engineering
publication date: 2013-06-11T00:00:00Z
review text: Summary: 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.
Mathematics Subject Classification ID: 93C95
zbMATH DE Number: 6173419
Wikidata QID: Q58912279
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2012/602502
OpenAlex ID: W2163203632
cites work: Vehicle Dynamics and Control
description: scientific article; zbMATH DE number 6173419