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2006•IRIS UNIMORE (University of Modena and Reggio Emilia)Requires access

Towards Real-Time Model Predictive Control Approach for Autonomous Active Steering

Paolo Falcone, Francesco Borrelli, Jahan Asgari, H. Eric Tseng, Davor Hrovat

Open publisher page 3 citations

Abstract

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.

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What this paper is about

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.

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Available abstract

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.

Key concepts: Model predictive control, Actuator, Control theory (sociology), Active steering, Control engineering, Nonlinear system, Controller (irrigation), Engineering

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