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Journal Article

Citation

Weiskircher T, Müller S. Veh. Syst. Dyn. 2012; 50(Suppl 1): 53-69.

Copyright

(Copyright © 2012, Informa - Taylor and Francis Group)

DOI

10.1080/00423114.2012.676649

PMID

unavailable

Abstract

This article presents a motion controller for a road vehicle equipped with a steer-by-wire system and four independent electric rim-mounted drives. The motion controller separates the control law from the specific actuator setup by the usage of virtual global control variables acting on the vehicle centre of gravity. A control allocation algorithm distributes the virtual control variables to the available actuators. An approximation of the real actuator dynamics is used to analyse the performance of different motion controller types in the linear and nonlinear driving regions. In addition, a vehicle state observer consisting of a traction force observer and an unscented Kalman filter is discussed to analyse the control behaviour in the case of a real sensor setup.

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