Optimal Reconfiguration Control of the Yaw Stability of the Tractor-Semitrailer Vehicle
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...
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| Veröffentlicht in: | Mathematical Problems in Engineering 2012-01, Vol.2012 (2012), p.1557-1579-392 |
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| container_end_page | 1579-392 |
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| container_title | Mathematical Problems in Engineering |
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| creator | Yang, Xiujian |
| description | 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. |
| doi_str_mv | 10.1155/2012/602502 |
| format | Article |
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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.</description><identifier>ISSN: 1024-123X</identifier><identifier>EISSN: 1563-5147</identifier><identifier>DOI: 10.1155/2012/602502</identifier><language>eng</language><publisher>Cairo, Egypt: Hindawi Limiteds</publisher><subject>Active control ; Actuator failure ; Algorithms ; Automobile industry ; Brake forming ; Brake presses ; Control stability ; Engineering ; Error correction ; Optimization ; Optimization algorithms ; Reconfiguration ; Sliding mode control ; Stability ; Structural reliability ; Studies ; Tractor trailers ; Tractors ; Trucks ; Vehicles ; Yaw ; Yawing moments</subject><ispartof>Mathematical Problems in Engineering, 2012-01, Vol.2012 (2012), p.1557-1579-392</ispartof><rights>Copyright © 2012 Xiujian Yang.</rights><rights>Copyright © 2012 Xiujian Yang. Xiujian Yang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-a431t-1baeaa0b0f12c15946c93e274988097e3e0bc37d309000753e5b7d54224421833</citedby><cites>FETCH-LOGICAL-a431t-1baeaa0b0f12c15946c93e274988097e3e0bc37d309000753e5b7d54224421833</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>314,776,780,27901,27902</link.rule.ids></links><search><contributor>Han, Soohee</contributor><creatorcontrib>Yang, Xiujian</creatorcontrib><title>Optimal Reconfiguration Control of the Yaw Stability of the Tractor-Semitrailer Vehicle</title><title>Mathematical Problems in Engineering</title><description>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.</description><subject>Active control</subject><subject>Actuator failure</subject><subject>Algorithms</subject><subject>Automobile industry</subject><subject>Brake forming</subject><subject>Brake presses</subject><subject>Control stability</subject><subject>Engineering</subject><subject>Error correction</subject><subject>Optimization</subject><subject>Optimization algorithms</subject><subject>Reconfiguration</subject><subject>Sliding mode control</subject><subject>Stability</subject><subject>Structural reliability</subject><subject>Studies</subject><subject>Tractor trailers</subject><subject>Tractors</subject><subject>Trucks</subject><subject>Vehicles</subject><subject>Yaw</subject><subject>Yawing moments</subject><issn>1024-123X</issn><issn>1563-5147</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2012</creationdate><recordtype>article</recordtype><sourceid>RHX</sourceid><sourceid>BENPR</sourceid><recordid>eNqFkctLxDAQxoso-Dx5l4I3pe7MJGnaoyy-YEFxfZ5K2k3dLLVZ0yyy_71xq6gnL5lM-M03mW-iaB_hBFGIAQHSIAUSQGvRFoqUJQK5XA93IJ4gsafNaLvrZgCEArOt6PF67s2rauJbXdm2Ni8Lp7yxbTy0rXe2iW0d-6mOn9V7PPaqNI3xy-_HO6cqb10y1q_GO2Ua7eIHPTVVo3ejjVo1nd77ijvR_fnZ3fAyGV1fXA1PR4niDH2CpdJKQQk1UoUi52mVM02S51kGudRMQ1kxOWGQA4AUTItSTgQn4pwwY2wnOux1586-LXTni5lduDa0LJAyQgLJeKCOe6pytuucrou5C1O7ZYFQfDpXfDpX9M4F-qinp6adqHfzD3zQwzogula_YMAwRwBue0AZZ7z5-d9NkEkRUYZlrCRxFSQwCrXA_iahrwyHzAuWE_sA_e2LGQ</recordid><startdate>20120101</startdate><enddate>20120101</enddate><creator>Yang, Xiujian</creator><general>Hindawi Limiteds</general><general>Hindawi Publishing Corporation</general><general>Hindawi Limited</general><scope>188</scope><scope>ADJCN</scope><scope>AHFXO</scope><scope>RHU</scope><scope>RHW</scope><scope>RHX</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7TB</scope><scope>8FD</scope><scope>8FE</scope><scope>8FG</scope><scope>ABJCF</scope><scope>ABUWG</scope><scope>AFKRA</scope><scope>ARAPS</scope><scope>AZQEC</scope><scope>BENPR</scope><scope>BGLVJ</scope><scope>CCPQU</scope><scope>CWDGH</scope><scope>DWQXO</scope><scope>FR3</scope><scope>GNUQQ</scope><scope>HCIFZ</scope><scope>JQ2</scope><scope>K7-</scope><scope>KR7</scope><scope>L6V</scope><scope>M7S</scope><scope>P5Z</scope><scope>P62</scope><scope>PIMPY</scope><scope>PQEST</scope><scope>PQQKQ</scope><scope>PQUKI</scope><scope>PRINS</scope><scope>PTHSS</scope></search><sort><creationdate>20120101</creationdate><title>Optimal Reconfiguration Control of the Yaw Stability of the Tractor-Semitrailer Vehicle</title><author>Yang, Xiujian</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-a431t-1baeaa0b0f12c15946c93e274988097e3e0bc37d309000753e5b7d54224421833</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Active control</topic><topic>Actuator failure</topic><topic>Algorithms</topic><topic>Automobile industry</topic><topic>Brake forming</topic><topic>Brake presses</topic><topic>Control stability</topic><topic>Engineering</topic><topic>Error correction</topic><topic>Optimization</topic><topic>Optimization algorithms</topic><topic>Reconfiguration</topic><topic>Sliding mode control</topic><topic>Stability</topic><topic>Structural reliability</topic><topic>Studies</topic><topic>Tractor trailers</topic><topic>Tractors</topic><topic>Trucks</topic><topic>Vehicles</topic><topic>Yaw</topic><topic>Yawing moments</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Yang, Xiujian</creatorcontrib><collection>Airiti Library</collection><collection>الدوريات العلمية والإحصائية - 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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.</abstract><cop>Cairo, Egypt</cop><pub>Hindawi Limiteds</pub><doi>10.1155/2012/602502</doi><oa>free_for_read</oa></addata></record> |
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| subjects | Active control Actuator failure Algorithms Automobile industry Brake forming Brake presses Control stability Engineering Error correction Optimization Optimization algorithms Reconfiguration Sliding mode control Stability Structural reliability Studies Tractor trailers Tractors Trucks Vehicles Yaw Yawing moments |
| title | Optimal Reconfiguration Control of the Yaw Stability of the Tractor-Semitrailer Vehicle |
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