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

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

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Title: Adaptive Yaw Control Of Three-Axle Road Vehicles Based On Mass, Yaw Inertia And Cg Position Identification
Author: Zhang, Yubiao
Woo, Ami
Khajepour, Amir
Identifier: CSME072
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.
Subject: Mechatronics
Robots and Control
three-axle vehicle
vehicle dynamics
parameters identification
adaptive yaw control
Type: Article
Rights: The copyright for the paper content remains with the author.
URI: http://hdl.handle.net/10315/35227
http://dx.doi.org/10.25071/10315/35227
Published: CSME-SCGM
ISSN: 978-1-77355-023-7
Date: 2018-05

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