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.
Approximate NMPC for vehicle stability: Design, implementation and SIL testing
Näherungsweise nichtlineare modellprädiktive Regelung der Stabilität von Fahrzeugen: Entwurf, Implementierung und Software-in-the-Loop-Testing
Control Engineering Practice ; 18 , 6 ; 630-639
2010
10 Seiten
Article (Journal)
English
NMPC Design for Local Planning of Automated Vehicle with Less Computational Consumption
Springer Verlag | 2024
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