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.
|Number of pages||6|
|Journal||6th IFAC Conference on Nonlinear Model Predictive Control NMPC 2018: Madison, Wisconsin, USA, 19-22 August 2018|
|Publication status||Published - 2018|
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering