Note: This content is accessible to all versions of every browser. However, this browser does not seem to support current Web standards, preventing the display of our site's design details.


Hybrid Parameter-Varying Model Predictive Control for Lateral Vehicle Stabilization


Th. Besselmann

European Control Conference (ECC), Kos, Greece

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.


Type of Publication:


File Download:

Request a copy of this publication.
(Uses JavaScript)
% No recipe for automatically generating a BibTex entry for (06)Talk
Permanent link