Nonlinear Model Predictive Control for Path Following of Simple Small Electric Vehicle Using C/GMRES

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Abstract

We propose a non-hierarchical controller based on nonlinear model predictive control for the path following of a simple electric vehicle. Generally, tyre forces close to of friction circle limit exhibit strong nonlinearity. We deal with the nonlinearity without approximation to improve the vehicle's dynamic performance while preventing drift out and spin. The C/GMRES algorithm is used for nonlinear model predictive control, and we show that the controller can update its inputs in real time.

Original languageEnglish
Pages (from-to)253-258
Number of pages6
JournalIFAC-PapersOnLine
Volume51
Issue number20
DOIs
Publication statusPublished - 2018

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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