Using future path information for improving stability of an overactuated vehicle
2009 (English)In: International Journal of Vehicle Systems Modelling and Testing, ISSN 1745-6436, Vol. 4, no 3, 218-231 p.Article in journal (Refereed) Published
In this paper, model predictive control (MPC) is applied for controlling an over-actuated vehicle. The control problem is associated with the distribution of the tyre forces to ensure vehicle stability. The use of MPC is shown to be a suitable method if the vehicle's future desired trajectory is known. Simulation studies conducted show that access to information in advance, even if such information is restricted to only a few seconds, significantly contributes to maintaining vehicle stability. Furthermore, a longer prediction horizon results in earlier actions and stabilises the vehicle even better.
Place, publisher, year, edition, pages
2009. Vol. 4, no 3, 218-231 p.
MPC; model predictive control; vehicle systems modelling; vehicle control; vehicle dynamics; over-actuated vehicles; tyre forces; vehicle stability; simulation.
IdentifiersURN: urn:nbn:se:kth:diva-11015DOI: 10.1504/IJVSMT.2009.029390ScopusID: 2-s2.0-70849095042OAI: oai:DiVA.org:kth-11015DiVA: diva2:234430
QC 201007222009-09-082009-09-082010-07-22Bibliographically approved