Towards Real-Time Model Predictive Control Approach for Autonomous Active Steering
Paper in proceeding, 2006

In this paper we follow the novel approach presented in [1] to autonomous active steering control design. A nonlinear Model Predictive Control (MPC) scheme is designed to control front wheel steering in order to stabilize a vehicle along a desired path while fulfilling its physical constraints. The proposed nonlinear MPC controller has been implemented in in real time by using advanced sensors, actuators and non-linear optimization solvers. This papers presents the experimental setup and the experimental results obtained at low vehicle speeds on icy roads with a passenger car.


Paolo Falcone

Chalmers, Signals and Systems, Systems and control

Francesco Borrelli

Jahan Asgari

H. Eric Tseng

Davor Hrovat

8th International Symposium on Advanced Vehicle Control, Taipei, Taiwan, August 2006

Subject Categories

Control Engineering

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