Model Predictive Control for Vehicle Stabilization at the Limits of Handling
Publication Date
7-2013
Description
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.
Journal
IEEE Transactions on Control Systems Technology
Volume
21
Issue
4
First Page
1258
Last Page
1269
Department
Mechanical Engineering
Link to Published Version
Recommended Citation
Beal, Craig Earl and Gerdes, J. Christian. "Model Predictive Control for Vehicle Stabilization at the Limits of Handling." IEEE Transactions on Control Systems Technology (2013) : 1258-1269.