A Research on Generalized Predictive Control for Vehicle Yaw Rate

A yaw stability controller based on generalized predictive control is presented in this paper. The predictive and the desired model of yaw rate are established based on a linearized vehicle model, the future output of yaw rate of the vehicle according to the information of vehicle speed and the steering wheel angle is predicted. Compared with a desired value, a controlling yaw moment is calculated based on the difference between the desired and the actual yaw rate. The predictive control of parameter model applied to the yaw stability control system based on GPC, in the known model situation, can predict the future output of yaw rate of the vehicle precisely and take control action before the yaw instability of vehicle occurs, so this method suits the yaw stability control system of vehicle. The simulation result indicates the yaw rate based on GPC algorithm can track the desired yaw rate well. Compares with the PID control algorithm, the curve of yaw rate has no obvious surge, and the overshoot reduces greatly.