A linear time varying model predictive control approach to the integrated vehicle dynamics control problem in autonomous systems

2007 ◽  
Author(s):  
P. Falcone ◽  
M. Tufo ◽  
F. Borrelli ◽  
J. Asgari ◽  
H. E. Tseng
Keyword(s):  
Model Predictive Control ◽  
Control Problem ◽  
Predictive Control ◽  
Vehicle Dynamics ◽  
Linear Time ◽  
Autonomous Systems ◽  
Time Varying ◽  
Control Approach ◽  
Vehicle Dynamics Control

Direct Longitudinal Force Feedback for High-Performance Vehicle Dynamics Control Systems

2021 ◽  
Author(s):  
Giorgio Riva ◽  
Luca Mozzarelli ◽  
Matteo Corno ◽  
Simone Formentin ◽  
Sergio M. Savaresi
Keyword(s):  
Model Predictive Control ◽  
Control Systems ◽  
Predictive Control ◽  
Vehicle Dynamics ◽  
High Performance ◽  
Force Feedback ◽  
Longitudinal Force ◽  
Spiral Path ◽  
Comparable Performance ◽  
Vehicle Dynamics Control

Abstract State of the art vehicle dynamics control systems do not exploit tire road forces information, even though the vehicle behaviour is ultimately determined by the tire road interaction. Recent technological improvements allow to accurately measure and estimate these variables, making it possible to introduce such knowledge inside a control system. In this paper, a vehicle dynamics control architecture based on a direct longitudinal tire force feedback is proposed. The scheme is made by a nested architecture composed by an outer Model Predictive Control algorithm, written in spatial coordinates, and an inner longitudinal force feedback controller. The latter is composed by four classical Proportional-Integral controllers in anti-windup configuration, endowed with a suitably designed gain switching logic to cope with possible unfeasible references provided by the outer loop, avoiding instability. The proposed scheme is tested in simulation in a challenging scenario where the tracking of a spiral path on a slippery surface and the timing performance are handled simultaneously by the controller. The performance is compared with that of an inner slip-based controller, sharing the same outer Model Predictive Control loop. The results show comparable performance in presence of unfeasible force references, while higher robustness is achieved with respect to friction curve uncertainties.

Linear time varying model based model predictive control for lateral path tracking

2018 ◽  
Vol 75 (1/2/3/4) ◽  
pp. 1
Author(s):  
Charles Pinto ◽  
Ione Nieva ◽  
Sara Mata ◽  
Itziar Cabanes ◽  
Asier Zubizarreta
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Linear Time ◽  
Path Tracking ◽  
Time Varying ◽  
Model Based
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