Control allocation based electronic stability control system for a conventional road vehicle
Paper in proceeding, 2007

This paper shows how control allocation with an optimization formulation can be used as an on-line electronic stability control system for a conventional road vehicle. Control allocation is used in systems with more actuators than the degrees of freedom controlled, which are also known as over-actuated systems. Here it is assumed that the steering is solely managed by the driver. The control allocator uses the combustion engine and the four mechanical disc brakes to compensate any understeering or oversteering behaviour. Simulations showed that the suggested control system passed the proposed test procedure for Electronic Stability Control systems, sine with dwell, suggested by the National Highway Traffic Safety Administration (NHTSA). © 2007 IEEE.

Electronic Stabiltity Control

Control Allocation


Leo Laine

Chalmers, Applied Mechanics

J. Andreasson

Modelon AB

IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

1424413966 (ISBN)

Areas of Advance


Subject Categories

Vehicle Engineering

Control Engineering





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