eprintid: 425
rev_number: 23
eprint_status: archive
userid: 7
dir: disk0/00/00/04/25
datestamp: 2011-07-27 08:29:22
lastmod: 2016-04-06 10:25:58
status_changed: 2011-07-27 08:29:22
type: book_section
metadata_visibility: show
contact_email: alberto.bemporad@imtlucca.it
item_issues_count: 0
creators_name: Di Cairano, Stefano
creators_name: Tseng, H. E.
creators_name: Bernardini, Daniele
creators_name: Bemporad, Alberto
creators_id: 
creators_id: 
creators_id: daniele.bernardini@imtlucca.it
creators_id: alberto.bemporad@imtlucca.it
title: Steering vehicle control by switched model predictive control
ispublished: pub
subjects: QA75
divisions: CSA
full_text_status: none
pres_type: paper
keywords: Integrated Motion Control: Direct Yaw Control, 4 Wheel Steering, Active Suspensions and Roll Bars; Active Chassis Systems: Break, Steering, Suspension Systems
note: 6th IFAC Symposium Advances in Automotive Control, Munich, Germany, 2010
abstract: 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.
date: 2010
date_type: published
publisher: IFAC
event_title: 6th IFAC Symposium Advances in Automotive  Control
event_location: 12th - 14th July 2010
event_dates: M
event_type: conference
id_number: 10.3182/20100712-3-DE-2013.00046
refereed: TRUE
isbn: 978-3-902661-72-2
book_title: Advances in Automotive Control 
official_url: http://www.ifac-papersonline.net/Detailed/44221.html
citation:   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)