Command-Filtered Yaw Stability Control of Vehicles with State Constraints
Abstract
:1. Introduction
- ①
- By constructing the controller based on the ABLF, the proposed approach ensures that the sideslip angle and yaw rate remain within reasonable bounds, effectively imposing both symmetric and asymmetric constraints on state variables, thereby enhancing the adaptability and flexibility of the control algorithm.
- ②
- The adoption of the second-order command-filtered method enables the computation of filtered virtual control signals and their derivatives through a command filter, avoiding the need for direct differentiation of virtual control inputs and effectively mitigating the potential issue of computational explosion in control law derivation.
- ③
- A filtering error compensation mechanism is incorporated to reduce errors introduced by the command filter, further improving control accuracy. The proposed control scheme guarantees that the state error of the closed-loop system ultimately converges to a compact set, thereby enhancing the robustness and precision of yaw stability control.
2. Coupled Dynamic Model of Intelligent Vehicles and Problem Formulation
2.1. Coupled Dynamics Model of Intelligent Vehicles
2.1.1. Rotational Dynamics Model of Each Wheel
2.1.2. Vertical Load of Each Wheel
2.1.3. Tire Slip Angles of Each Wheel
2.1.4. Longitudinal Velocities of Each Wheel
2.1.5. Tire Model
2.2. Model Simplification and Problem Description
Simplification of Coupled Dynamics Model for Intelligent Vehicles
- ①
- when or ,
- ②
3. Design and Stability Analysis of a State-Constrained Command-Filtered Controller for Vehicle Yaw Stability
3.1. Controller Design
3.2. Stability Analysis
4. Distribution of Additional Lateral Yaw Moment in the Lower Layer
5. Simulation Verification and Result Analysis
5.1. Yaw Stability Control Process of Intelligent Vehicles
5.2. Parameter Settings
5.3. Result Analysis
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
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Category | Acting Brake | ||
---|---|---|---|
Oversteer | Right-side wheel | ||
Understeer | Left-side wheel | ||
Understeer | Right-side wheel | ||
Oversteer | Left-side wheel |
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Wu, L.; Liu, Z.; Zhao, D. Command-Filtered Yaw Stability Control of Vehicles with State Constraints. Actuators 2025, 14, 148. https://doi.org/10.3390/act14030148
Wu L, Liu Z, Zhao D. Command-Filtered Yaw Stability Control of Vehicles with State Constraints. Actuators. 2025; 14(3):148. https://doi.org/10.3390/act14030148
Chicago/Turabian StyleWu, Lizhe, Zhenhua Liu, and Dingxuan Zhao. 2025. "Command-Filtered Yaw Stability Control of Vehicles with State Constraints" Actuators 14, no. 3: 148. https://doi.org/10.3390/act14030148
APA StyleWu, L., Liu, Z., & Zhao, D. (2025). Command-Filtered Yaw Stability Control of Vehicles with State Constraints. Actuators, 14(3), 148. https://doi.org/10.3390/act14030148