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Print ISSN: 1582-7445
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doi: 10.4316/AECE


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  2/2016 - 14

Direct Yaw Control of Vehicle using State Dependent Riccati Equation with Integral Terms

SANDHU, F. See more information about SANDHU, F. on SCOPUS See more information about SANDHU, F. on IEEExplore See more information about SANDHU, F. on Web of Science, SELAMAT, H. See more information about  SELAMAT, H. on SCOPUS See more information about  SELAMAT, H. on SCOPUS See more information about SELAMAT, H. on Web of Science, MAHALLEH, V. B. S. See more information about MAHALLEH, V. B. S. on SCOPUS See more information about MAHALLEH, V. B. S. on SCOPUS See more information about MAHALLEH, V. B. S. on Web of Science
 
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Download PDF pdficon (1,672 KB) | Citation | Downloads: 708 | Views: 2,455

Author keywords
nonlinear equations, optimal control, quadratic programming, ricatti equation, sliding mode control

References keywords
vehicle(33), control(33), system(18), dynamics(17), active(14), stability(9), steering(8), ling(7), integrated(6), systems(5)
Blue keywords are present in both the references section and the paper title.

About this article
Date of Publication: 2016-05-31
Volume 16, Issue 2, Year 2016, On page(s): 101 - 110
ISSN: 1582-7445, e-ISSN: 1844-7600
Digital Object Identifier: 10.4316/AECE.2016.02014
Web of Science Accession Number: 000376996100014
SCOPUS ID: 84974815457

Abstract
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Direct yaw control of four-wheel vehicles using optimal controllers such as the linear quadratic regulator (LQR) and the sliding mode controller (SMC) either considers only certain parameters constant in the nonlinear equations of vehicle model or totally neglect their effects to obtain simplified models, resulting in loss of states for the system. In this paper, a modified state-dependent Ricatti equation method obtained by the simplification of the vehicle model is proposed. This method overcomes the problem of the lost states by including state integrals. The results of the proposed system are compared with the sliding mode slip controller and state-dependent Ricatti equation method using high fidelity vehicle model in the vehicle simulation software package, Carsim. Results show 38% reduction in the lateral velocity, 34% reduction in roll and 16% reduction in excessive yaw by only increasing the fuel consumption by 6.07%.


References | Cited By  «-- Click to see who has cited this paper

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References Weight

Web of Science® Citations for all references: 1,867 TCR
SCOPUS® Citations for all references: 2,423 TCR

Web of Science® Average Citations per reference: 58 ACR
SCOPUS® Average Citations per reference: 76 ACR

TCR = Total Citations for References / ACR = Average Citations per Reference

We introduced in 2010 - for the first time in scientific publishing, the term "References Weight", as a quantitative indication of the quality ... Read more

Citations for references updated on 2022-12-06 16:09 in 186 seconds.




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