relation: http://eprints.imtlucca.it/425/
title: Steering vehicle control by switched model predictive control
creator: Di Cairano, Stefano
creator: Tseng, H. E.
creator: Bernardini, Daniele
creator: Bemporad, Alberto
subject: QA75 Electronic computers. Computer science
description: 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.
publisher: IFAC
date: 2010
type: Book Section
type: PeerReviewed
identifier:   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)  
relation: http://www.ifac-papersonline.net/Detailed/44221.html
relation: 10.3182/20100712-3-DE-2013.00046