A fully distributed computational approach for optimal allocation of tire friction forces for integral chassis control systems is proposed in this article. To this end, a decomposition technique involving a conjunction of the subgradient method and average consensus in the primal and dual space have been utilized. In addition to the implementation simplicity, the resulting distributed feedforward control algorithm may provide major advantages in terms of the computational complexity and robustness stemming from the inherent fault-tolerant structure due to the active redundancy inferred by the independent actuation channels.
Towards fully distributed integral chassis control
2011
13 Seiten, 5 Bilder, 5 Tabellen, 12 Quellen
Aufsatz (Konferenz)
Englisch
Towards fully distributed integral chassis control
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