This paper discusses the use of differential dynamic programming (DDP) for the optimal nonlinear control of road vehicles. The advantages of the DDP method, with particular reference to the optimal control of road vehicles, are explained. The controller is based on a vehicle model which was specifically chosen to accurately reflect vehicle behaviour under critical driving conditions. The control strategy was successfully tested on a complex multi-body simulation of a road vehicle.
Differential dynamic programming and the optimal control of vehicle lateral dynamics
2011
12 Seiten, 6 Bilder, 16 Quellen
Aufsatz (Konferenz)
Englisch
Differential dynamic programming and optimal control of vehicle lateral dynamics
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