@article{eprints1307,
          author = {Stefano Di Cairano and H. E. Tseng and Daniele Bernardini and Alberto Bemporad},
       publisher = {IEEE},
         journal = {IEEE Transactions on Control Systems Technology },
          number = {4},
           pages = {1236--1248},
          volume = {21},
           month = {June},
            year = {2013},
           title = {Vehicle yaw stability control by coordinated active front steering and differential braking in the tire sideslip angles domain },
        keywords = {Automotive controls, hybrid control systems, model predictive control, vehicle stability control. },
             url = {http://eprints.imtlucca.it/1307/},
        abstract = {Vehicle active safety receives ever increasing attention in the attempt to achieve zero accidents on the road. In this paper, we investigate a control architecture that has the potential of improving yaw stability control by achieving faster convergence and reduced impact on the longitudinal dynamics. We consider a system where active front steering and differential braking are available and propose a model predictive control (MPC) strategy to coordinate the actuators. We formulate the vehicle dynamics with respect to the tire slip angles and use a piecewise affine (PWA) approximation of the tire force characteristics. The resulting PWA system is used as prediction model in a hybrid MPC strategy. After assessing the benefits of the proposed approach, we synthesize the controller by using a switched MPC strategy, where the tire conditions (linear/saturated) are assumed not to change during the prediction horizon. The assessment of the controller computational load and memory requirements indicates that it is capable of real-time execution in automotive-grade electronic control units. Experimental tests in different maneuvers executed on low-friction surfaces demonstrate the high performance of the controller.}
}