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Explicit nonlinear model predictive control for vehicle stability control

Metzler, Mathias, Tavernini, Davide, Sorniotti, Aldo and Gruber, Patrick (2018) Explicit nonlinear model predictive control for vehicle stability control In: 9th International Munich Chassis Symposium 2018, plus, 12-13 Jun 2018, Munich, Germany.

Explicit nonlinear model predictive control for vehicle stability control.pdf - Accepted version Manuscript

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Nonlinear model predictive control is proposed in multiple academic studies as an ad-vanced control system technology for vehicle operation at the limits of handling, allow-ing high tracking performance and formal consideration of system constraints. How-ever, the implementation of implicit nonlinear model predictive control (NMPC), in which the control problem is solved on-line, poses significant challenges in terms of computational load. This issue can be overcome through explicit NMPC, in which the optimization problem is solved off-line, and the resulting explicit solution, with guar-anteed level of sub-optimality, is evaluated on-line. Due to the simplicity of the explicit solution, the real-time execution of the controller is possible even on automotive control hardware platforms with low specifications. The explicit nature of the control law fa-cilitates feasibility checks and functional safety validation. This study presents a yaw and lateral stability controller based on explicit NMPC, actuated through the electro-hydraulically controlled friction brakes of the vehicle. The controller performance is demonstrated during sine-with-dwell tests simulated with a high-fidelity model. The analysis includes a comparison of implicit and explicit implementations of the control system.

Item Type: Conference or Workshop Item (Conference Paper)
Divisions : Faculty of Engineering and Physical Sciences > Mechanical Engineering Sciences
Authors :
Date : 26 September 2018
DOI : 10.1007/978-3-658-22050-1
Copyright Disclaimer : © 2018 Springer Vieweg All rights reserved
Related URLs :
Depositing User : Clive Harris
Date Deposited : 16 May 2018 10:36
Last Modified : 02 Nov 2018 16:41

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