Towards Real-Time Model Predictive Control Approach for Autonomous Active Steering
Paper i 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, Signaler och system, System- och reglerteknik

Francesco Borrelli

Jahan Asgari

H. Eric Tseng

Davor Hrovat

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



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