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Hybrid Parameter-Varying Model Predictive Control for Lateral Vehicle Stabilization

Author(s):

Th. Besselmann
Conference/Journal:

European Control Conference (ECC), Kos, Greece
Abstract:

In this paper the concept of Hybrid Parameter- Varying Model Predictive Control (HPV-MPC) is applied for lateral vehicle stabilization. Parameter-varying in MPC means that a prediction model with non-constant, parameter-varying system matrices is employed. In the investigated scenario, the displacement of a car on an icy road under a side wind gust shall be prevented. To explore a possible reduction of online computations and the inherent degradation of control performance, the nonlinear model of the lateral dynamics is approximated in various ways. A comparison between controllers using prediction models varying from the full nonlinear model, as an indication for the maximal achievable performance, to a linear model has been performed. Particular emphasis was put on the hybrid parameter-varying prediction model, to investigate the potential of parameter-varying prediction models on the computational effort and control performance.

Year:

2007
Type of Publication:

(06)Talk
Supervisor:



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