Explicit MPC motion cueing algorithm for real-time driving simulator

Although Model Predictive Control (MPC) technology can now be found in a wide variety of industrial process control applications, its application in the field of Motion Cueing Algorithm (MCA) is a relatively new issue. Its efficiency has been proven in the driving simulation thanks to the authors' original work (explicit algorithm) and to others (implicit algorithm). The key for applying successfully the MPC algorithm in the field of MCA is to find an appropriate algorithm's stability condition and an efficient in-line or off-line optimization algorithm. The stability condition proposed by this paper reduces significantly the number of partitioned regions for explicit algorithm and thus guarantees the real time tilt-linear optimal motion cues with complicated constraints. This condition can also be applied in the implicit algorithm. The first test in Renault's simulator, ULTIMATE, has shown that the fidelity of driving simulation is effectively improved. It will greatly enhance the MPC algorithm's application in the field of simulator motion cues.