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