Control strategies for energy efficient over-actuated vehicles
Due to increased environmental awareness and for economic reasons energy efficient driving is of high importance. Introduction of more advanced drive systems will allow vehicles to be implemented with multiple electrical actuators enabling over-actuation. An over-actuated vehicle has higher number of control outputs than required to control a given number of degrees of freedom. These actuators open up for new and cost-efficient solutions for motion control, which makes it possible to develop vehicle control strategies for enhanced energy efficiency without compromising comfort and safety.
The main purpose of this project is to analyse the potential of over-actuation and to propose control strategies that can handle the trade-off between energy efficiency, environmental impact, safety and comfort for each driving situation. Several different active chassis systems will be considered, for example in-wheel motors, individual steering, active suspension, camber control as well as different combinations of over-actuation. To solve this, a combination of optimisation techniques, vehicle modelling (with sufficient detail), knowledge of intended transportation task, relevant requirements and boundary conditions are needed. The proposed control strategies will be implemented and experimentally evaluated using a real vehicle, for example the KTH Research Concept Vehicle.