Finite-time lateral stability control of vehicles via longitudinal tire slip-based dynamic control allocation in limit handling manoeuvers

Le résumé fourni par la source

This paper introduces a novel finite-time lateral stability control scheme for vehicles, employing optimal longitudinal tire slip allocation and wheel brake force control during critical manoeuvers. The three-layer control structure comprises an upper controller using an integral terminal sliding mode controller to generate the desired yaw moment, accounting for driver's steering input and model uncertainties. The proposed controller ensures boundedness of the side slip angle. A novel nonlinear dynamic control allocation method, based on a Lyapunov control function, determines the desired longitudinal tire slips, ensuring fixed-time convergence and reduced computational complexity. The lower-level controller employs sliding mode control to generate wheel brake torque for tracking the desired longitudinal tire slips, accommodating uncertainties. As a result, this control allocation method avoids iterative solution techniques, ensuring optimal and rapid convergence of longitudinal tire slip distribution. Finally, the work includes a comprehensive analysis and proof of finite-time stability for the entire closed-loop system. Simulations on a 10-degree-of-freedom nonlinear vehicle model, validated with CarSim during double lane change manoeuvers on dry asphalt and snowy roads, demonstrate the superior performance of the proposed method in terms of tracking accuracy, speed, and overall stability compared to the asymptotic dynamic control allocation method.

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