Applications of Computational Optimal Control to Vehicle Dynamics

The concept of active steering control (ASC) has been considered by several researchers as well as auto manufacturing companies during recent years. This innovative system permits any correction of the driver’s steering angle in order to achieve the desired vehicle dynamic behavior. An optimal control law to evaluate the steering angle’s correction of the front wheels, being part of an active front steering system (AFS), has been developed. For this purpose a specific lateral vehicle dynamics index is defined in which way that the minimization of the performance index lead to improved vehicle dynamics. The optimal values of the control law’s gains are determined analytically. The performance of the proposed control system has been verified using 8-DOF nonlinear vehicle dynamic model. The simulation results illustrate that considerable improvement in vehicle handling is achieved particularly for the cases of the low and mid-range lateral acceleration maneuvers.

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Optimal control allocation in vehicle dynamics control for rollover mitigation

2008 American Control Conference ◽

10.1109/acc.2008.4586990 ◽

2008 ◽

Cited By ~ 32

Author(s):

Brad Schofield ◽

Tore Hagglund

Keyword(s):

Optimal Control ◽

Vehicle Dynamics ◽

Control Allocation ◽

Vehicle Dynamics Control

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Decentralized Merging Control in Traffic Networks with Noisy Vehicle Dynamics: a Joint Optimal Control and Barrier Function Approach

2019 IEEE Intelligent Transportation Systems Conference (ITSC) ◽

10.1109/itsc.2019.8917473 ◽

2019 ◽

Cited By ~ 5

Author(s):

Wei Xiao ◽

Christos G. Cassandras ◽

Calin Belta

Keyword(s):

Optimal Control ◽

Barrier Function ◽

Vehicle Dynamics ◽

Function Approach ◽

Traffic Networks

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Simulation of Active Suspension System Based on Optimal Control

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.765-767.382 ◽

2013 ◽

Vol 765-767 ◽

pp. 382-386

Author(s):

Jian Kun Peng ◽

Hong Wen He ◽

Bing Lu

Keyword(s):

Optimal Control ◽

Vehicle Dynamics ◽

Ride Comfort ◽

Simulation Models ◽

Active Suspension ◽

Suspension System ◽

Dynamics Model ◽

Vertical Roll ◽

Lqr Controller ◽

Passive Suspension System

A 7-DOFs vehicle dynamics model which includes active suspension system (ASS) is established, and a LQR controller for active suspension system was designed based on optimal control theory. The simulation models for active suspension system and passive suspension system were built, and a simulation experiment was carried out with MATLAB/Simulink Software. The simulation results show that the optimal control of active suspension system can reduce vertical, roll and pitch accelerations of sprung mass, and the vehicle ride comfort and handling stability were improved effectively.

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A Web Based “Virtual Racing Car Championship” to Teach Vehicle Dynamics and Multidisciplinary Design

Volume 5: Engineering Education and Professional Development ◽

10.1115/imece2011-65245 ◽

2011 ◽

Cited By ~ 2

Author(s):

Francesco Biral ◽

Fabrizio Zendri ◽

Enrico Bertolazzi ◽

Paolo Bosetti ◽

Marco Galvani ◽

...

Keyword(s):

Optimal Control ◽

Dynamic Model ◽

Vehicle Dynamics ◽

Multidisciplinary Approach ◽

Dynamic Performance ◽

Pole Position ◽

Multidisciplinary Design ◽

Web Based ◽

Dynamics And Control ◽

And Control

A web based VRCC (Virtual Racing Car Championship) application is here presented. The application is intended for educational purposes to teach students a variety of topics of the teaching course “Vehicle Dynamics and Control” in Mechatronics Master Degree Course; the present application forces students to understand the relevant parameters that govern the dynamic performance of racing cars. The application relies on an optimal control library, which is capable of calculating minimum lap times of a racing car on the basis of a comprehensive symbolic description of an open-wheel racing car dynamic model. Students are enrolled in a number of teams competing in a Championship to attain the minimum lap time (i.e., the pole position) on three circuits by choosing the appropriate setup of the racing car. The ranking is based on the best lap time obtained in the qualification session. The application stimulates students to adopt a multidisciplinary approach in a challenging and instructive environment, where they are in a position to apply a broad range of knowledges and abilities they have acquired during the Mechanotronics engineering course.

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A Torque Vectoring Optimal Control Strategy for Combined Vehicle Dynamics Performance Enhancement and Electric Motor Ageing Minimisation * *The authors would like to acknowledge the financial support from EPSRC via the ‘FUTURE Vehicle’ project (grant number EP/I038586/1) and the Impact Acceleration Account (grant number EP/K503927/1).

IFAC-PapersOnLine ◽

10.1016/j.ifacol.2016.08.061 ◽

2016 ◽

Vol 49 (11) ◽

pp. 412-417 ◽

Cited By ~ 1

Author(s):

Angelos Kampanakis ◽

Efstathios Siampis ◽

Efstathios Velenis ◽

Stefano Longo

Keyword(s):

Optimal Control ◽

Control Strategy ◽

Electric Motor ◽

Vehicle Dynamics ◽

Financial Support ◽

Performance Enhancement ◽

Optimal Control Strategy ◽

Torque Vectoring ◽

Impact Acceleration ◽

The Impact

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A Conjugate Gradient-Based BPTT-Like Optimal Control Algorithm With Vehicle Dynamics Control Application

IEEE Transactions on Control Systems Technology ◽

10.1109/tcst.2010.2084088 ◽

2011 ◽

Vol 19 (6) ◽

pp. 1587-1595 ◽

Cited By ~ 29

Author(s):

Josip Kasac ◽

Joško Deur ◽

Branko Novakovic ◽

Ilya V. Kolmanovsky ◽

Francis Assadian

Keyword(s):

Optimal Control ◽

Conjugate Gradient ◽

Vehicle Dynamics ◽

Control Algorithm ◽

Gradient Based ◽

Control Application ◽

Vehicle Dynamics Control

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A BPTT-Like Optimal Control Algorithm With Vehicle Dynamics Control Application

Volume 11: Mechanical Systems and Control ◽

10.1115/imece2008-67319 ◽

2008 ◽

Cited By ~ 2

Author(s):

J. Kasac ◽

J. Deur ◽

B. Novakovic ◽

I. Kolmanovsky

Keyword(s):

Optimal Control ◽

Vehicle Dynamics ◽

Learning Algorithm ◽

Tubular Reactor ◽

Time Discretization ◽

High Order ◽

Dynamic Neural Networks ◽

Backpropagation Through Time ◽

Gradient Based ◽

Vehicle Dynamics Control

The paper presents a gradient-based numerical algorithm for optimal control of nonlinear multivariable systems with control and state vectors constraints. The algorithm has a backward-in-time recurrent structure similar to the backpropagation-through-time (BPTT) algorithm, which is mostly used as a learning algorithm for dynamic neural networks. This paper presents an enhancement of the basic optimization algorithm. Our enhanced algorithm uses high-order Adams time-discretization schemes instead of the basic Euler discretization method, and a numerical calculation of Jacobians as an alternative to analytical Jacobians. Two examples are considered to illustrate the algorithm and its performance. The first example is that of a tubular reactor, for which an analytical solution is available, which can be readily used for validation of our approach. The second example is related to controlling vehicle dynamics based on a realistic high order model.

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