TY  - CHAP
ID  - eprints430
EP  - 7626
SP  - 7621
TI  - Drive-by-wire vehicle stabilization and yaw regulation: A hybrid model predictive control design
N2  - Electronic Stability Control (ESC) and Active Front Steering (AFS) have been introduced in production vehicles in recent years, due to improved vehicle maneuverability and the effects in reducing single vehicle accident. We propose a hybrid Model Predictive Control (MPC) design for coordinated control of AFS and ESC. By formulating the vehicle dynamics with respect to the front and rear tire slip angles and by approximating the tire-force characteristics by piecewise affine functions, the vehicle dynamics are formulated as a linear hybrid dynamical system. This model is used to design a hybrid model predictive controller. The proposed model formulation allows one to visually analyze the stability region of the closed-loop system and to assess the stabilizing capability of the hybrid MPC controller. Simulations of the controller in closed-loop with an accurate nonlinear model are presented.
AV  - none
N1  - Proceeding of the 48th IEEE Conference on Decision and Control, Shanghai, China
SN  - 978-1-4244-3871-6 
T2  - 48th IEEE Conference on Decision and Control
KW  - Accidents; Predictive control; Predictive models; Production; Stability; Tires; Vehicle driving; Vehicle dynamics; Vehicles; Wheels 
A1  - Bernardini, Daniele
A1  - Di Cairano, Stefano
A1  - Bemporad, Alberto
A1  - Tseng, H. E.
UR  - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5400860&tag=1
Y1  - 2009///
PB  - IEEE
ER  -