Control Allocation of Rear Wheel Steering and Electronic Stability Control with Actuator Failure

摘要

This paper has presented optimal coordination of Rear Wheel Steering and Electronic Stability Control. The algorithm consists of three parts. First, state estimators for tire force, cornering stiffness and side slip angle have been designed. Second, desired vehicle motion has been generated considering driving situation and driver's intention. Third, optimal coordinator has distributed the control task to the individual chassis control using analytical method with Karush-Kuhn-Tucker. The purpose of this study can be divided into two categories. One is optimal control of Rear Wheel Steering and Electronic Stability Control. Therefore, new cost functions have been defined. The other is fault tolerant control during actuator fault or brake circuit failure. The performance of the proposed control system has been validated through closed-loop simulations with MATLABlSimulink and Carsim. The simulation results show that proposed system does not only distribute the control input to each control system but also ensure vehicle safety under actuator failure.