Dual-Level Control Architectures for Over-Actuated Autonomous Vehicle's Stability, Path-Tracking, and Energy Economy

Autonomous vehicles equipped with four independent in-wheel motors bestow salutary design flexibility and render the system over-actuated. The strategy percolated for torque allocation dictates the system's performance and marks its energy consumption. In this paper, two complete novel control...

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Veröffentlicht in:	IEEE transactions on intelligent vehicles 2024-01, Vol.9 (1), p.1-16
Hauptverfasser:	Tarhini, Fadel, Talj, Reine, Doumiati, Moustapha
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Algorithms Automatic Autonomous Vehicle Computer architecture Control stability Decoupling Dynamic stability Electric vehicles Energy consumption Engineering Sciences In-wheel motors LPV/<inline-formula xmlns:ali="http://www.niso.org/schemas/ali/1.0/" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"> <tex-math notation="LaTeX"> mathcal {H}_{\infty }</tex-math> </inline-formula> Control Nonlinear systems Online and Offline Optimization Optimization Path tracking Quadratic programming Resource management Simulation Sliding mode control Speed control Stability criteria Super-Twisting Sliding Mode (STSM) Control Torque Torque Allocation Vehicle dynamics Yaw
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