Abstract In this paper a Model Predictive Control (MPC) architecture is proposed to achieve a smooth and progressive stabilization of the vehicle in limit cornering conditions. Integral Sliding Mode (ISM)… Click to show full abstract
Abstract In this paper a Model Predictive Control (MPC) architecture is proposed to achieve a smooth and progressive stabilization of the vehicle in limit cornering conditions. Integral Sliding Mode (ISM) is effectively exploited, in a multi-rate structure, in order to enhance the robustness with respect to changes in the tire/road friction characteristic curve and modelling errors. These typically arise due to the linearizations and discretizations needed in the controllers implementation. The performance is verified in simulation using IPG-CarMaker, a high-fidelity vehicle dynamics simulation software. The results obtained evidence the effectiveness of the proposed approach, also compared to an LQR based architecture.
               
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