Paper Info
Title
Vehicle lateral stability control via approximated NMPC: real-time implementation and software-in-the-loop test
Abstract
A Nonlinear Model Predictive Control (NMPC) approach to improve vehicle yaw stability and handling by means of a rear active differential is introduced. In particular, the use of NMPC is adopted to show its effectiveness in the vehicle stability control context. However, the application of NMPC for automotive control is limited by the required computational load, which is often incompatible with the employed sampling time. In order to allow the on-line implementation of the designed predictive control law, an efficient technique based on Set Membership approximation methodologies using a Nearest Point approach is adopted. The designed efficient NMPC approximation is implemented on an embedded device with limited computational capacity and tested using software-in-the-loop simulations and an accurate nonlinear model of the vehicle. Enhancements on stability in demanding conditions such as mu-split braking and damping properties in impulsive maneuvers are obtained, as well as improvements over a well-assessed approach based on an an enhanced Internal Model Control structure.
Year
DOI
Venue
2009
10.1109/CDC.2009.5399655
CDC
Keywords
Field
DocType
embedded systems,nonlinear control systems,predictive control,stability,vehicles,NMPC,automotive control,damping,embedded device,internal model control structure,nearest point approach,nonlinear model,nonlinear model predictive control,predictive control law,real-time implementation,rear active differential,sampling time,set membership approximation methodologies,software-in-the-loop test,vehicle lateral stability control,¿-split braking
Control theory,Computer science,Model predictive control,Sampling time,Electronic stability control,Control engineering,Software in the loop,Nonlinear model,Internal model,Automotive industry
Conference
ISSN
Citations 
PageRank 
0743-1546
0
0.34
References 
Authors
7
3
Name
Order
Citations
PageRank
Massimo Canale17213.78
Lorenzo Fagiano237046.22
Valentino Razza363.54