Title: Model-based predictive control of vehicle dynamics

Authors: Sehyun Chang, Timothy J. Gordon

Addresses: Department of Mechanical Engineering, The University of Michigan, Ann Arbor, 2350 Hayward Street, Ann Arbor, MI 48109, USA. ' Department of Mechanical Engineering, University of Michigan Transportation Research Institute, The University of Michigan, Ann Arbor, MI 48109, USA

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.

Keywords: vehicle stability control; VSC; vehicle motion control; brake torque distribution control; model predictive control; MPC; wheel slip control; sliding mode control; SMC; simulation; model-based control; hierarchical control.

DOI: 10.1504/IJVAS.2007.014945

International Journal of Vehicle Autonomous Systems, 2007 Vol.5 No.1/2, pp.3 - 27

Available online: 20 Aug 2007 *

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