TY  - JOUR
PY  - 2018//
TI  - A combined-slip predictive control of vehicle stability with experimental verification
JO  - Vehicle system dynamics
A1  - Jalali, Milad
A1  - Hashemi, Ehsan
A1  - Khajepour, Amir
A1  - Chen, Shih-ken
A1  - Litkouhi, Bakhtiar
SP  - 319
EP  - 340
VL  - 56
IS  - 2
N2  - In this paper, a model predictive vehicle stability controller is designed based on a combined-slip LuGre tyre model. Variations in the lateral tyre forces due to changes in tyre slip ratios are considered in the prediction model of the controller. It is observed that the proposed combined-slip controller takes advantage of the more accurate tyre model and can adjust tyre slip ratios based on lateral forces of the front axle. This results in an interesting closed-loop response that challenges the notion of braking only the wheels on one side of the vehicle in differential braking. The performance of the proposed controller is evaluated in software simulations and is compared to a similar pure-slip controller. Furthermore, experimental tests are conducted on a rear-wheel drive electric Chevrolet Equinox equipped with differential brakes to evaluate the closed-loop response of the model predictive control controller.<p />  <p>Language: en</p>
LA  - en
SN  - 0042-3114
UR  - http://dx.doi.org/10.1080/00423114.2017.1376751
ID  - ref1
ER  -