eprintid: 430
rev_number: 16
eprint_status: archive
userid: 7
dir: disk0/00/00/04/30
datestamp: 2011-07-27 08:32:01
lastmod: 2016-04-06 10:26:11
status_changed: 2011-07-27 08:32:01
type: book_section
metadata_visibility: show
contact_email: alberto.bemporad@imtlucca.it
item_issues_count: 0
creators_name: Bernardini, Daniele
creators_name: Di Cairano, Stefano
creators_name: Bemporad, Alberto
creators_name: Tseng, H. E.
creators_id: daniele.bernardini@imtlucca.it
creators_id: 
creators_id: alberto.bemporad@imtlucca.it
creators_id: 
title: Drive-by-wire vehicle stabilization and yaw regulation: A hybrid model predictive control design
ispublished: pub
subjects: QA
subjects: TA
divisions: CSA
full_text_status: none
keywords: Accidents; Predictive control; Predictive models; Production; Stability; Tires; Vehicle driving; Vehicle dynamics; Vehicles; Wheels 
note: Proceeding of the 48th IEEE Conference on Decision and Control, Shanghai, China
abstract: 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.
date: 2009
date_type: published
publication: Decision and Control
publisher: IEEE
pagerange: 7621-7626
event_title: 48th  IEEE Conf. on Decision and Control
event_location: 16th Dec. - 18th Dec 2009
event_dates: Shanghai, China
id_number: 10.1109/CDC.2009.5400860  
refereed: TRUE
isbn: 978-1-4244-3871-6 
book_title: 48th IEEE Conference on Decision and Control
official_url: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5400860&tag=1
citation:   Bernardini, Daniele and Di Cairano, Stefano and Bemporad, Alberto and Tseng, H. E.  Drive-by-wire vehicle stabilization and yaw regulation: A hybrid model predictive control design.   In:  48th IEEE Conference on Decision and Control.   IEEE, pp. 7621-7626.  ISBN 978-1-4244-3871-6       (2009)