Safe switching for motion coordination control

Ready to shape tomorrow’s society together with us?
Within the technology stream Vehicle Motion and Energy Management, we develop system solutions and functionalities for Vehicle Dynamics, Vehicle Motion management and Driver assistance. These solutions must be safe, efficient and robust.
Are you ready to join our team as a thesis worker and be part of shaping the future of the transportation industry with us?


This is how you could make an impact
Trucks with different trailer combinations can have several motion actuators that can be used for controlling the desired vehicle motions. The number of motion actuators such as steerable axles, mechanical brakes, and auxiliary brakes in combination with available powertrain actuators exceeds the number of controlled motions, so called over-actuation. This allows several feasible solutions to achieve the desired longitudinal, lateral, yaw, and roll motion of each unit within the vehicle combination.
One way to solve the over-actuation is to use Control Allocation (CA) within the control system. The CA approaches are classified in two main categories: optimization-based and rule-based CA.
The goal of this thesis is to ensure that that the switch to a new controller for motion coordination (rule-based or optimization-based) will not cause any transient instability or performance degradation. Therefore, we want to maintain performance at each switching between controllers ( (called safe switching).
The possible transient instability caused by switching among controllers is prevented by selecting suitable switching logics.


The thesis work will include control theory, vehicle dynamics and optimization. The work will be carried out at Volvo Group Trucks Technology. The thesis is recommended for one or two students with control analysis profile with good mathematical skills.


Thesis start: Jan 2023.


If you find this proposal interesting send your application with CV and grades.


Supervisor:
Maliheh Sadeghi Kati, Research Engineer, +46 739026567


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