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Model Predictive Control for Vehicle Stabilization at the Limits of Handling

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2 Author(s)
Beal, C.E. ; Dept. of Mech. Eng., Stanford Univ., Stanford, CA, USA ; Gerdes, J.C.

Recent developments in vehicle steering systems offer new opportunities to measure the steering torque and reliably estimate the vehicle sideslip and the tire-road friction coefficient. This paper presents an approach to vehicle stabilization that leverages these estimates to define state boundaries that exclude unstable vehicle dynamics and utilizes a model predictive envelope controller to bound the vehicle motion within this stable region of the state space. This approach provides a large operating region accessible by the driver and smooth interventions at the stability boundaries. Experimental results obtained with a steer-by-wire vehicle and a proof of envelope invariance demonstrate the efficacy of the envelope controller in controlling the vehicle at the limits of handling.

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Control Systems Technology, IEEE Transactions on  (Volume:21 ,  Issue: 4 )