Nonlinear Model Predictive Control for Four-wheeled Vehicle with Saturation of Tire Forces and Load Transfers

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  • タイヤ力の飽和と荷重移動を伴う四輪車両の非線形モデル予測制御
  • タイヤリョク ノ ホウワ ト カジュウ イドウ オ トモナウ ヨンリン シャリョウ ノ ヒセンケイ モデル ヨソク セイギョ

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In this study, we propose a control method for a four-wheeled vehicle with drifted motion. We deal with the four-wheeled vehicle model that includes the effect of load transfers for each wheel and nonlinear tire model. Nonlinear model predictive control is used to determine the optimal control inputs and C/GMRES algorithm is applied for solving the optimization problem with low computational burden. Experimental results of a path tracking control, in which a target path is a sharp curve, verify that the control of target path tracking for four-wheeled vehicle can be achieved via real-time optimization.

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