The full text of this article
Model-based predictive control of vehicle dynamics
by Sehyun Chang, Timothy J. Gordon
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 5, No. 1/2, 2007
Abstract: This paper proposes a new model-based hierarchical control strategy for the application of brake torque distribution to vehicle stability control. A three-layer control architecture is adopted, and the focus of the paper is on the intermediate layer which employs a form of model predictive control. To achieve this a non-linear vehicle model is linearised at successive time instants about non-equilibrium operating points. Simulations show that the new controller is more efficient (uses reduced brake authority) compared to a conventional rule-based control algorithm. It also has the advantage of being highly flexible for future application in fully integrated chassis systems.
Online publication date: Mon, 20-Aug-2007
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