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Optimal Direct Yaw Moment Control Of A 4wd Electric Vehicle, Winston James Wight
Optimal Direct Yaw Moment Control Of A 4wd Electric Vehicle, Winston James Wight
Master's Theses
This thesis is concerned with electronic stability of an all-wheel drive electric vehicle with independent motors mounted in each wheel. The additional controllability and speed permitted using independent motors can be exploited to improve the handling and stability of electric vehicles. In this thesis, these improvements arise from employing a direct yaw moment control (DYC) system that seeks to adapt the understeer gradient of the vehicle and achieve neutral steer by employing a supervisory controller and simultaneously tracking an ideal yaw rate and ideal sideslip angle. DYC enhances vehicle stability by generating a corrective yaw moment realized by a torque …
Comparison Of Lqr And Lqr-Mrac For Linear Tractor-Trailer Model, Kevin Richard Gasik
Comparison Of Lqr And Lqr-Mrac For Linear Tractor-Trailer Model, Kevin Richard Gasik
Master's Theses
The United States trucking industry is immense. Employing over three million drivers and traveling to every city in the country. Semi-Trucks travel millions of miles each week and encompass roads that civilians travel on. These vehicles should be safe and allow efficient travel for all. Autonomous vehicles have been discussed in controls for many decades. Now fleets of autonomous vehicles are beginning their integration into society. The ability to create an autonomous system requires domain and system specific knowledge. Approaches to implement a fully autonomous vehicle have been developed using different techniques in control systems such as Kalman Filters, Neural …