Title: Combined wheel torque and steering control based on model predictive controller using a simplified tyre model

Authors: Ganesh Adireddy; Taehyun Shim; Douglas Rhode; Jahan Asgari

Addresses: Department of Mechanical Engineering, University of Michigan-Dearborn, Evergreen Road 4901, Dearborn, MI, USA ' Department of Mechanical Engineering, University of Michigan-Dearborn, Evergreen Road 4901, Dearborn, MI, USA ' Research and Advanced Engineering, Ford Motor Company, 2101 Village Road, Dearborn MI, USA ' Research and Advanced Engineering, Ford Motor Company, 2101 Village Road, Dearborn MI, USA

Abstract: This paper presents a vehicle chassis control system based on a model predictive control method that controls both front steer and wheel torques at each wheel and is developed to enhance vehicle yaw motion and the ability to track the desired trajectory. A computationally efficient simplified non-linear tyre model, which is easy to implement in the control algorithms, is used along with an 8 degree of freedom (DOF) vehicle model. The performance of this controller is compared to that based on the well known Magic Formula tyre model. The effectiveness and limitations of the proposed controller are discussed through simulation.

Keywords: vehicle dynamics; MPC; model predictive control; simplified tyre models; nonlinear modelling; vehicle chassis control; wheel torque; steering control; vehicle yaw; simulation; controller design.

DOI: 10.1504/IJVD.2014.060064

International Journal of Vehicle Design, 2014 Vol.65 No.1, pp.31 - 51

Received: 11 Jan 2012
Accepted: 13 Oct 2012

Published online: 26 Feb 2014 *

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