期刊
VEHICLE SYSTEM DYNAMICS
卷 51, 期 6, 页码 925-942出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00423114.2013.773453
关键词
direct yaw moment control; sliding mode control; driver model; tyre model
A novel direct yaw moment controller is developed in this paper. A hierarchical control architecture is adopted in the controller design. In the upper controller, a driver model and a vehicle model are used to obtain the driver's intention and the vehicle states, respectively. The upper controller determines the desired yaw moment by means of sliding mode control. The lower controller distributes differential longitudinal forces according to the desired yaw moment. A nonlinear tyre model, UniTire', is utilised to develop the novel distribution strategy and the control boundary.
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