Development of control oriented vehicle models and their application to adaptive control allocation problems
Author
Temiz, Ozan
Advisor
Çakmakcı, Melih
Date
2018-10Publisher
Bilkent University
Language
en_US
Type
ThesisItem Usage Stats
160
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73
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Abstract
Emerging vehicle control systems have increased the need for valid vehicle models.
In this study, two controller oriented vehicle models are developed and linearized
for easier controller design. These models are validated by using an advanced
vehicle simulation commercial suite. Then by using these models, an adaptive,
fault-tolerant control allocation method which simultaneously commands all traction
and steering related actuators is developed. The proposed control scheme
consists of a high level controller that creates a virtual control input vector and
a low level control allocator that distributes the virtual control effort among redundant
actuators. Virtual control input consists of desired forces and moments
to ensure stability while following a given reference. Based on this virtual control
input vector, the allocation module determines actuator inputs. Performance of
the proposed system is evaluated via an object avoidance maneuver in various
scenarios such as different velocities and effectiveness loss at actuators. Results
show that the proposed approach can follow the references despite the loss of
actuator effectiveness in the driving cycle.