Adaptive Yaw Control Of Three-Axle Road Vehicles Based On Mass, Yaw Inertia And Cg Position Identification
| dc.contributor.author | Zhang, Yubiao | |
| dc.contributor.author | Woo, Ami | |
| dc.contributor.author | Khajepour, Amir | |
| dc.date.accessioned | 2018-11-05T20:01:44Z | |
| dc.date.available | 2018-11-05T20:01:44Z | |
| dc.date.issued | May-18 | |
| dc.description.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. | |
| dc.identifier | CSME072 | |
| dc.identifier.issn | 978-1-77355-023-7 | |
| dc.identifier.uri | http://hdl.handle.net/10315/35227 | |
| dc.identifier.uri | http://dx.doi.org/10.25071/10315/35227 | |
| dc.language.iso | en | en_US |
| dc.publisher | CSME-SCGM | en_US |
| dc.rights | The copyright for the paper content remains with the author. | |
| dc.subject | Mechatronics | en_US |
| dc.subject | Robots and Control | en_US |
| dc.title | Adaptive Yaw Control Of Three-Axle Road Vehicles Based On Mass, Yaw Inertia And Cg Position Identification | en_US |
| dc.type | Article | en_US |
| dcterms.subject | three-axle vehicle | |
| dcterms.subject | vehicle dynamics | |
| dcterms.subject | parameters identification | |
| dcterms.subject | adaptive yaw control |