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Explicit non-linear model predictive control for vehicle stability control
| Content Provider | Semantic Scholar |
|---|---|
| Author | Metzler, Mathias Tavernini, Davide Sorniotti, Aldo Gruber, Patrick |
| Copyright Year | 2019 |
| Abstract | Nonlinear model predictive control is proposed in multiple academic studies as an ad-vanced control system technology for vehicle operation at the limits of handling, allow-ing high tracking performance and formal consideration of system constraints. How-ever, the implementation of implicit nonlinear model predictive control (NMPC), in which the control problem is solved on-line, poses significant challenges in terms of computational load. This issue can be overcome through explicit NMPC, in which the optimization problem is solved off-line, and the resulting explicit solution, with guar-anteed level of sub-optimality, is evaluated on-line. Due to the simplicity of the explicit solution, the real-time execution of the controller is possible even on automotive control hardware platforms with low specifications. The explicit nature of the control law fa-cilitates feasibility checks and functional safety validation. This study presents a yaw and lateral stability controller based on explicit NMPC, actuated through the electro-hydraulically controlled friction brakes of the vehicle. The controller performance is demonstrated during sine-with-dwell tests simulated with a high-fidelity model. The analysis includes a comparison of implicit and explicit implementations of the control system. |
| Starting Page | 733 |
| Ending Page | 752 |
| Page Count | 20 |
| File Format | PDF HTM / HTML |
| DOI | 10.1007/978-3-658-22050-1_49 |
| Alternate Webpage(s) | http://epubs.surrey.ac.uk/846424/1/Explicit%20nonlinear%20model%20predictive%20control%20for%20vehicle%20stability%20control.pdf |
| Alternate Webpage(s) | https://doi.org/10.1007/978-3-658-22050-1_49 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
