Using future path information for improving the stability of an over-actuated vehicle
by Johan Backmark, Erik Karlsson, Jonas Fredriksson, Mats Jonasson
International Journal of Vehicle Systems Modelling and Testing (IJVSMT), Vol. 4, No. 3, 2009

Abstract: 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.

Online publication date: Sat, 28-Nov-2009

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