A quadratic programming based control allocation technique was studied for the control of multiple inputs to a ground vehicle to track a desired yaw rate trajectory while minimizing vehicle sideslip. Detailed models are derived for three vehicles, each possessing different input capabilities: 1) front steering and front and rear differential braking.2) front and rear steering and front and rear differential braking. 3) front and rear steering and individual torque control of each wheel. A method for the application of control allocation techniques to a ground vehicle with coupled dynamics was studied. The proposed control strategy uses quadratic programming accompanied by linear quadratic regulator gains to provide intelligent combinations of input commands to a ground vehicle in order to accomplish multiple objectives. Both nominal and failure scenarios are examined and the results are presented along with a discussion of the effects of the proposed controller's design parameters. The control strategy successfully minimizes opposing commands in the presence of conflicting objectives as well as maintains good tracking in the event of a steering failure.

Research Assistants:

• John Plumlee

Sponsors:

• Auburn University Department of Mechanical Engineering

Publications:

• Plumlee, J., Bevly, D.M., and Hodel, S., “Control of a Ground Vehicle using Quadratic Programming Based Control Allocation,” accepted for publication at the 2004 American Control Conference.
• Plumlee, J., “ Multi-Input Ground Vehicle Control Using Quadratic Programming Based Control Allocation,” M.S. Thesis, Auburn University