Mathematics – Optimization and Control
Scientific paper
2011-12-07
Mathematics
Optimization and Control
Scientific paper
In this paper we provide optimal control based strategies to explore the dynamic capabilities of a single-track rigid car which includes tire models and load transfer. Using an explicit formulation of the holonomic constraints imposed on the unconstrained rigid car, we design a car model which includes load transfer without adding suspension models. With this model in hand, we perform an analysis of the equilibrium manifold of the vehicle. That is, we design a continuation and predictor-corrector numerical strategy to compute cornering equilibria on the entire range of operation of the tires. Finally, as main contribution of the paper, we explore the system dynamics by use of novel nonlinear optimal control techniques. The proposed strategies allow to compute aggressive car trajectories and study how the vehicle behaves depending on its parameters. To show the effectiveness of the proposed strategies we compute aggressive maneuvers of the vehicle inspired to testing maneuvers from virtual and real prototyping.
Hauser John
Notarstefano Giuseppe
Rucco Alessandro
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