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

Yuto Owaki; Tsuyoshi Yuno; Taketoshi Kawabe

doi:10.1016/j.ifacol.2018.11.022

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

Yuto Owaki, Tsuyoshi Yuno, Taketoshi Kawabe

Section of Measurement and Control Engineering

Research output: Contribution to journal › Article

1 Citation (Scopus)

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 language	English
Pages (from-to)	253-258
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	51
Issue number	20
DOIs	https://doi.org/10.1016/j.ifacol.2018.11.022
Publication status	Published - 2018

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

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10.1016/j.ifacol.2018.11.022

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Owaki, Y., Yuno, T., & Kawabe, T. (2018). Nonlinear Model Predictive Control for Path Following of Simple Small Electric Vehicle Using C/GMRES. IFAC-PapersOnLine, 51(20), 253-258. https://doi.org/10.1016/j.ifacol.2018.11.022

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