Adaptive Yaw Control Of Three-Axle Road Vehicles Based On Mass, Yaw Inertia And Cg Position Identification

Abstract

This paper introduces an adaptive yaw control scheme based on the estimation of the vehicle mass, yaw inertia and center of gravity (CG) position. The control deigns for three-axle road vehicles, which can be trucks, buses, or even three-axle passenger cars. System parameters of these vehicles vary significantly due to varying conditions, such as unloading and fully-loading of payloads. As a result, control references and fixed-model-based controller lose efficacy. The proposed adaptive yaw control compensates these issues, utilizing the integration of a least-square based parameter identification algorithm and a Model Reference Adaptive Control (MRAC) law. Simulation test results verify the effectiveness of the proposed adaptive control scheme.