Actor model approach to control stability of an articulated vehicle

Abstract

The paper presents an application of actor model to control braking torques on wheels of an articulated vehicle in an untripped rollover manoeuvre. The numerical model of the articulated vehicle and dynamic optimisation have been used to calculate appropriate braking torques for each wheel in order to restore stability. The optimisation problem requires the equations of motion to be integrated at each optimisation step and its time-consuming. Therefore, parallel computing with using actor model system has been proposed. Actor model system has been implemented in genetic algorithm. In the paper, formulation of genetic algorithm with actor system and results obtained from dynamic optimisation have been presented and compared.