In this paper the concept of hybrid parameter-varying model predictive control (HPV-MPC) is applied for lateral vehicle stabilization. Parameter-varying in the MPC context means that a prediction model with non-constant, parameter-varying system matrices is employed. In the investigated scenario, the displacement of a car on an icy road under a side wind gust shall be mitigated. In order to explore a possible reduction of online computations and the inherent degradation of control performance, the nonlinear model of the lateral dynamics is approximated in various ways. A comparison between controllers using prediction models varying from the full nonlinear model, as an indication for the maximal achievable performance, to a linear model has been performed. Particular emphasis was put on the hybrid parameter-varying prediction model, to investigate their potential in terms of computational effort and control performance.
Hybrid parameter-varying model predictive control for lateral vehicle stabilization
Hybride parametervariable modellprädiktive Regelung für die Fahrzeug-Querstabilisierung
ECC, European Control Conference, 2007 ; 1068-1075
2007
8 Seiten, 12 Bilder, 16 Quellen
Aufsatz (Konferenz)
Datenträger
Englisch
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