In this paper, nonlinear model predictive control is used to improve vehicle stability and handling by means of a rear active differential. In order to allow on-line control computations within the required sampling time, a set membership approximation of the designed controller is employed. The real applicability and effectiveness of such a technique, as well as the improvement over an existing control approach based on internal model control, is shown through the implementation on a commercial embedded device with limited computational capacity and the testing via software-in-the-loop simulations of demanding maneuvers, using an accurate nonlinear vehicle model.


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    Title :

    Approximate NMPC for vehicle stability: Design, implementation and SIL testing


    Additional title:

    Näherungsweise nichtlineare modellprädiktive Regelung der Stabilität von Fahrzeugen: Entwurf, Implementierung und Software-in-the-Loop-Testing


    Contributors:

    Published in:

    Publication date :

    2010


    Size :

    10 Seiten




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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