Control of a ground vehicle using quadratic programming based control allocation techniques. Plumlee, J., Bevly, D., & Hodel, A. In Proceedings of the 2004 American Control Conference, volume 5, pages 4704–4709 vol.5, June, 2004. ISSN: 0743-1619![Control of a ground vehicle using quadratic programming based control allocation techniques [link]](https://bibbase.org/img/filetypes/link.svg "link")
Paper doi abstract bibtex 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.
@inproceedings{plumlee_control_2004,
title = {Control of a ground vehicle using quadratic programming based control allocation techniques},
volume = {5},
url = {https://ieeexplore.ieee.org/abstract/document/1384055},
doi = {10.23919/ACC.2004.1384055},
abstract = {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.},
urldate = {2024-06-20},
booktitle = {Proceedings of the 2004 {American} {Control} {Conference}},
author = {Plumlee, J.H. and Bevly, D.M. and Hodel, A.S.},
month = jun,
year = {2004},
note = {ISSN: 0743-1619},
keywords = {Aerospace safety, Land vehicles, Mechanical engineering, Optimal control, Quadratic programming, Regulators, Road vehicles, Torque control, Trajectory, Vehicle safety},
pages = {4704--4709 vol.5},
}
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