Using future path information for improving the stability of an over-actuated vehicle
Artikel i vetenskaplig tidskrift, 2009

In this paper, model predictive control (MPC) is applied for controlling an over-actuated vehicle. The control problem is associated with the distribution of the tyre forces to ensure vehicle stability. The use of MPC is shown to be a suitable method if the vehicle’s future desired trajectory is known. Simulation studies conducted show that access to information in advance, even if such information is restricted to only a few seconds, significantly contributes to maintaining vehicle stability. Furthermore, a longer prediction horizon results in earlier actions and stabilises the vehicle even better.


Johan Backmark

Chalmers, Signaler och system

Erik Karlsson

Chalmers, Signaler och system

Jonas Fredriksson

Signaler och system, System- och reglerteknik, Mekatronik

Mats Jonasson

International Journal of Vehicle Systems Modelling and Testing

1745-6436 (ISSN) 1745-6444 (eISSN)

Vol. 4 218-231