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Control Theory and Technology

, Volume 17, Issue 4, pp 357–366 | Cite as

An MPC-based manoeuvre stability controller for full drive-by-wire vehicles

  • Ping Wang
  • Ziyang Liu
  • Qifang LiuEmail author
  • Hong Chen
Article
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Abstract

Aiming at the actuator time delay caused by the drive-by-wire technology, a novel manoeuvre stability controller based on model predictive control is proposed for full drive-by-wire vehicles. Firstly, the future vehicle dynamics are predicted by a twodegree-of-freedom vehicle model with input delay. Secondly, in order to prevent the vehicle from destabilizing due to excessive side slip angles, the determined ideal yaw rate and side slip angle are tracked simultaneously by optimizing the front wheel angle and additional yaw moment. Moreover, in order to improve the trajectory tracking ability, a side slip angle constraint determined by phase plane stability boundaries is added to the cost function. The results of Matlab and veDYNA co-simulation show that the regulated yaw rate can track the reference value well and the side slip angle decreases. Meanwhile, the trajectory tracking ability is improved obviously by compensating the time delay.

Keywords

Drive-by-wire technology networked control system model predictive control stability control time delay 
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Copyright information

© South China University of Technology, Academy of Mathematics and Systems Science, CAS and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  • Ping Wang
    • 1
    • 2
  • Ziyang Liu
    • 2
  • Qifang Liu
    • 2
    Email author
  • Hong Chen
    • 1
    • 2
  1. 1.The State Key Laboratory of Automotive Simulation and ControlJilin UniversityChangchun JilinChina
  2. 2.Department of Control Science and Engineering, School of Communication EngineeringJilin UniversityChangchun JilinChina

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