Vehicle Dynamics Control Based on Linear Quadratic Regulator

Si Qi Zhang; Tian Xia Zhang; Shu Wen Zhou

doi:10.4028/www.scientific.net/AMM.16-19.876

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 16-19Vehicle Dynamics Control Based on Linear Quadratic...

Vehicle Dynamics Control Based on Linear Quadratic Regulator

Abstract:

The paper presents a vehicle dynamics control strategy devoted to prevent vehicles from spinning and drifting out. With vehicle dynamics control system, counter braking are applied at individual wheels as needed to generate an additional yaw moment until steering control and vehicle stability were regained. The Linear Quadratic Regulator (LQR) theory was designed to produce demanded yaw moment according to the error between the measured yaw rate and desired yaw rate. The results indicate the proposed system can significantly improve vehicle stability for active safety.