Control of a ground vehicle using quadratic programming based control allocation techniques

• Published in: 2004 American Control Conference Proceedings; Volume 5 of 6 Vol. 5; pp. 4704 - 4709 vol.5
• Main Authors: Plumlee, J.H., Bevly, D.M., Hodel, A.S.
• Format: Conference Proceeding Journal Article
• Language: English
• Published: Piscataway NJ IEEE 01.01.2004; Evanston IL American Automatic Control Council
• Subjects: Aerospace safety; Applied sciences; Computer science; control theory; systems; Control system synthesis; Control theory. Systems; Exact sciences and technology; Land vehicles; Mechanical engineering; Optimal control; Quadratic programming; Regulators; Road vehicles; Torque control; Trajectory; Vehicle safety; LQ control; Optimal trajectory; Resource allocation; Control synthesis; Quadratic control; Linear programming; Tracked vehicle; Quadratic programming; Modeling; Yawing
• ISBN: 9780780383357; 0780383354
• ISSN: 0743-1619
• DOI: 10.23919/ACC.2004.1384055

This paper examines the use of control allocation techniques for the control of multiple inputs to a ground vehicle to track a desired yaw rate trajectory while minimizing vehicle sideslip. The proposed controller uses quadratic programming accompanied by linear quadratic regulator gains designed around a linear vehicle model to arrive at a combination of vehicle commands. Several failure scenarios are examined and the results for two different quadratic programming approaches are presented along with a discussion of the advantages each method has to offer.