Towards Real-Time Model Predictive Control Approach for Autonomous Active Steering
Paper in proceedings, 2006
In this paper we follow the novel approach presented in  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.