Vehicle yaw stability control using active limited-slip differential via model predictive control methods

Daniel Rubin, Shai A. Arogeti

Research output: Contribution to journalArticlepeer-review

41 Scopus citations

Abstract

In this paper, the problem of vehicle yaw control using an active limited-slip differential (ALSD) applied on the rear axle is addressed. The controller objective is to minimise yaw-rate and body slip-angle errors, with respect to target values. A novel model predictive controller is designed, using a linear parameter-varying (LPV) vehicle model, which takes into account the ALSD dynamics and its constraints. The controller is simulated using a 10DOF Matlab/Simulink simulation model and a CarSim model. These simulations exemplify the controller yaw-rate and slip-angle tracking performances, under challenging manoeuvres and road conditions. The model predictive controller performances surpass those of a reference sliding mode controller, and can narrow the loss of performances due to the ALSD's inability to transfer torque regardless of driving conditions.

Original languageEnglish
Pages (from-to)1315-1330
Number of pages16
JournalVehicle System Dynamics
Volume53
Issue number9
DOIs
StatePublished - 2 Sep 2015

Keywords

  • CarSim
  • MPC
  • active differential
  • vehicle stability
  • vehicle yaw control

ASJC Scopus subject areas

  • Automotive Engineering
  • Safety, Risk, Reliability and Quality
  • Mechanical Engineering

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