MPC-Based Yaw and Lateral Stabilization Via Active Front Steering and Braking
Artikel i vetenskaplig tidskrift, 2008
In this paper we propose a path following Model Predictive Control-based (MPC) scheme utilizing steering and braking. The control objective is to track a desired path for obstacle avoidance maneuver, by a combined use of braking and steering. The proposed control scheme relies on the Nonlinear MPC (NMPC) formulation we used in  and . In this work, the NMPC formulation will be used in order to derive two different approaches. The first relies on a full tenth order vehicle model and has high computational burden. The second approach is based on a simplified bicycle model and has a lower computational complexity compared to the first. The effectiveness of the proposed approaches is demonstrated through simulations and experiments.
Model Predictive Control