Rear wheel torque vectoring model predictive control with velocity regulation for electric vehicles

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dc.contributor.authorSiampis, Efstathios
dc.contributor.authorVelenis, Efstathios
dc.contributor.authorLongo, Stefano
dc.date.accessioned2016-06-09T18:22:31Z
dc.date.available2016-06-09T18:22:31Z
dc.date.issued2015-07-20
dc.description.abstractIn this paper we propose a constrained optimal control architecture for combined velocity, yaw and sideslip regulation for stabilisation of the vehicle near the limit of lateral acceleration using the rear axle electric torque vectoring configuration of an electric vehicle. A nonlinear vehicle and tyre model are used to find reference steady-state cornering conditions and design two model predictive control (MPC) strategies of different levels of fidelity: one that uses a linearised version of the full vehicle model with the rear wheels' torques as the input, and another one that neglects the wheel dynamics and uses the rear wheels' slips as the input instead. After analysing the relative trade-offs between performance and computational effort, we compare the two MPC strategies against each other and against an unconstrained optimal control strategy in Simulink and Carsim environment.en_UK
dc.identifier.citationEfstathios Siampis, Efstathios Velenis and Stefano Longo. Rear wheel torque vectoring model predictive control with velocity regulation for electric vehicles. Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility. Volume 53, Issue 11, 2015. pp1555-1579en_UK
dc.identifier.cris4167199
dc.identifier.issn0042-3114
dc.identifier.urihttp://dx.doi.org/10.1080/00423114.2015.1064972
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/9953
dc.language.isoenen_UK
dc.publisherTaylor and Francisen_UK
dc.rightsAttribution-Non-Commercial 3.0 Unported (CC BY-NC 3.0) You are free to: Share — copy and redistribute the material in any medium or format, Adapt — remix, transform, and build upon the material. The licensor cannot revoke these freedoms as long as you follow the license terms. Under the following terms: Attribution — You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use. Information: Non-Commercial — You may not use the material for commercial purposes. No additional restrictions — You may not apply legal terms or technological measures that legally restrict others from doing anything the license permits.
dc.subjecttorque vectoringen_UK
dc.subjectmodel predictive controlen_UK
dc.subjectcombined velocityen_UK
dc.subjectyaw and sideslip controlen_UK
dc.subjectlimit handlingen_UK
dc.titleRear wheel torque vectoring model predictive control with velocity regulation for electric vehiclesen_UK
dc.typeArticleen_UK

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