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Steering vehicle control by switched model predictive control

Di Cairano, Stefano and Tseng, H. E. and Bernardini, Daniele and Bemporad, Alberto Steering vehicle control by switched model predictive control. In: Advances in Automotive Control. IFAC. ISBN 978-3-902661-72-2 (2010)

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We propose a switching Model Predictive Control (MPC) strategy to control vehicle steering by actuating active front steering (AFS) and electronic stability control (ESC). After describing the piecewise affine prediction model used for MPC design, where the nonlinearities arise from the relation between sideslip angles and tire forces, a switching MPC strategy is implemented, where different local MPC controllers are used depending on the current tire force conditions. The designed controller maintains most of the benefits of a previously designed hybrid model predictive controller, but it has lower complexity and allows more flexible design. The controller stability is verified and the controller behavior during challenging step steering maneuvers is tested in closed-loop simulations against a nonlinear vehicle model.

Item Type: Book Section
Identification Number: 10.3182/20100712-3-DE-2013.00046
Additional Information: 6th IFAC Symposium Advances in Automotive Control, Munich, Germany, 2010
Uncontrolled Keywords: Integrated Motion Control: Direct Yaw Control, 4 Wheel Steering, Active Suspensions and Roll Bars; Active Chassis Systems: Break, Steering, Suspension Systems
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Research Area: Computer Science and Applications
Depositing User: Professor Alberto Bemporad
Date Deposited: 27 Jul 2011 08:29
Last Modified: 06 Apr 2016 10:25
URI: http://eprints.imtlucca.it/id/eprint/425

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