Comparison of Static and Dynamic Control Allocation Techniques for Integrated Vehicle Control
نویسندگان
چکیده
Comparison of static and dynamic control allocation techniques for nonlinear constrained optimal distribution of tire forces in a vehicle control system is presented. The total body forces and moments, obtained from a high level controller, are distributed among tire forces, which are constrained to nonlinear constraint of saturation, through two approaches. For the static control allocation technique the interior-point method is employed to perform the nonlinear constrained optimization problem. Also, by the dynamic control allocation technique a dynamic update law is derived for desired forces of each tire. Through simulation results efficiency of two approaches in enhancing vehicle handling and stability is evaluated and the results are compared.
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