Paper Search Console

Home Search Page About Contact

Journal Title

Title of Journal: J Cent South Univ

Search In Journal Title:

Abbravation: Journal of Central South University

Search In Journal Abbravation:

Publisher

Central South University

Search In Publisher:

DOI

10.1007/bf00705912

Search In DOI:

ISSN

2227-5223

Search In ISSN:
Search In Title Of Papers:

Control allocation algorithm for overactuated ele

Authors: Chong Feng Nenggen Ding Yongling He Guoyan Xu Feng Gao
Publish Date: 2014/10/17
Volume: 21, Issue: 10, Pages: 3705-3712
PDF Link

Abstract

A control allocation algorithm based on pseudoinverse method was proposed for the overactuated system of four inwheel motors independently driving and fourwheel steeringbywire electric vehicles in order to improve the vehicle stability The control algorithm was developed using a twodegreeoffreedom DOF vehicle model A pseudo control vector was calculated by a sliding mode controller to minimize the difference between the desired and actual vehicle motions A pseudoinverse controller then allocated the control inputs which included driving torques and steering angles of the four wheels according to the pseudo control vector If one or more actuators were saturated or in a failure state the control inputs are reallocated by the algorithm The algorithm was evaluated in Matlab/Simulink by using an 8DOF nonlinear vehicle model Simulations of sinusoidal input maneuver and double lane change maneuver were executed and the results were compared with those for a sliding mode control The simulation results show that the vehicle controlled by the control allocation algorithm has better stability and trajectorytracking performance than the vehicle controlled by the sliding mode control The vehicle controlled by the control allocation algorithm still has good handling and stability when one or more actuators are saturated or in a failure situation

Keywords:

References

.
Search In Abstract Of Papers:
Other Papers In This Journal:
  1. Electron bandstructure of kaolinite and its mechanism of flotation using dodecylamine as collector
  2. Esterification of different FFAs with methanol by CERP/PES hybrid catalytic membrane for biodiesel production
  3. Hot deformation behavior of Ti-6.5Al-3.5Mo-1.5Zr-0.3Si alloy with acicular microstructure
  4. Super-resolution reconstruction of synthetic-aperture radar image using adaptive-threshold singular value decomposition technique
  5. Thermodynamic equilibrium diagram of CaCl 2 -Ca(OH) 2 -H 2 O system
  6. Constitutive models in stability analysis of rock slope
  7. Finite element analysis of couple effect of soil displacement and axial load on single inclined pile
  8. A method for real power transfer allocation using multivariable regression analysis
  9. Development of nonlinear cross-anisotropic model for sands based on state parameter
  10. Detailed string stability analysis for bi-directional optimal velocity model
  11. A method for improving graph queries processing using positional inverted index (P.I.I) idea in search engines and parallelization techniques
  12. Error assessment of laser cutting predictions by semi-supervised learning
  13. 2DPCA versus PCA for face recognition
  14. Dynamic formation control for autonomous underwater vehicles
  15. Characteristics for wind energy and wind turbines by considering vertical wind shear
  16. Wettability and surfactivity of sodium phosphate surfactants in strong alkali solutions
  17. Al 2 O 3 coating for improving thermal stability performance of manganese spinel battery
  18. Fuzzy robust sliding mode control of a class of uncertain systems
  19. Fluid-solid coupling numerical simulation of charge process in variable-mass thermodynamic system
  20. Influences of hydrogen-enriched atmosphere under coke oven gas injection on reduction swelling behaviors of oxidized pellet
  21. Composition design and properties of CoNbZr amorphous films deposited by unbalanced magnetron sputtering
  22. Numerical and experimental analysis of quenching process for cam manufacturing
  23. Selective leaching of chromium-containing slag by HCl
  24. Design of a device for precision shaping of grinding wheel macro- and micro-geometry
  25. Evaluation of vibration and sound quality according to battery voltage change while moving a power seat in an automobile forward or backward
  26. Seam tracking control for mobile welding robot based on vision sensor
  27. Effects of laser heat treatment on salt spray corrosion of 1Cr5Mo heat resistant steel welding joints
  28. Hydro-mechanical coupling mechanism on joint of clay core-wall and concrete cut-off wall
  29. Structural characteristics and properties of polyurethane modified TDE-85/MeTHPA epoxy resin with interpenetrating polymer networks
  30. Direction-of-arrival estimation of quasi-stationary signals using two-level Khatri-Rao subspace and four-level nested array
  31. Numerical modeling airflow in soil with impact of groundwater
  32. Carbon spheres prepared via solvent-thermal reaction method and their microstructures after high temperature treatment
  33. Human action recognition based on chaotic invariants
  34. Mobile robot path planning based on adaptive bacterial foraging algorithm
  35. Sintering, crystallization and dielectric properties of CaO-B 2 O 3 -SiO 2 system glass ceramics
  36. New algorithm for variable-rate linear broadcast network coding
  37. Middle range wireless power transfer systems with multiple resonators
  38. Thermomechanical coupling effect of PVC sheet with defects
  39. Microstructure characterization of NiFe 2 O 4 -NiO solid-solid diffusion couple
  40. Adsorption of hexavalent chromium onto kaolin clay based adsorbent
  41. Preparation of nano-structured Ag solid materials and application to surface-enhanced Raman scattering
  42. Experimental investigation on atomization and collecting efficiency of wind-spray dust controller and its parameters optimization
  43. Mechanism of fracture in macro- and micro-scales in hollow centre cracked disc specimen
  44. First-principles investigation on structural and electrochemical properties of NaCoO 2 for rechargeable Na-ion batteries
  45. Synthesis and characterization of methacrylate matrix resin bearing o -nitrobenzyl group
  46. Two-echelon inventory model with service level constraint and controllable lead time sensitive to order quantity
  47. Improved model to solve influence coefficients of work roll deflection
  48. Advanced treatment of biologically pretreated coking wastewater by intensified zero-valent iron process (IZVI) combined with anaerobic filter and biological aerated filter (AF/BAF)
  49. Effects of temperature variation on Li x FePO 4 /C (0< x <1) electrode process
  50. Design and optimization in multiphase homing trajectory of parafoil system
  51. Log integration on large scale for global networking monitoring
  52. Permanent deformation response parameters of asphalt mixtures for a new mix-confined repeated load test
  53. Bioleaching of low-grade copper sulfide ores by Acidithiobacillus ferrooxidans and Acidithiobacillus thiooxidans
  54. Design method of pile-slab structure roadbed of ballastless track on soil subgrade
  55. A model and simulation of cathode flooding and drying on unsteady proton exchange membrane fuel cell
  56. Method to determine installing angle of conical point attack pick
  57. Time-domain compressive dictionary of attributed scattering center model for sparse representation
  58. Strength and thermal behavior of low weight foam geopolymer using circulating fluidized bed combustion fly ash
  59. Elimination of boundary effect for laminated overburden model in pillar stability analysis
  60. Elimination of boundary effect for laminated overburden model in pillar stability analysis
  61. Multi-objective optimisation of a vehicle energy absorption structure based on surrogate model
  62. Numerical method and model for calculating thermal storage time for an annular tube with phase change material
Search Result: