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Real-Time Capable Nonlinear Model Predictive Wheel Slip Control for Combined Driving and Cornering

Part of the Lecture Notes in Mechanical Engineering book series (LNME)

Abstract

This paper presents a traction controller for combined driving and cornering conditions, based on explicit nonlinear model predictive control. The prediction model includes a nonlinear tire force model using a simplified version of the Pacejka Magic Formula, incorporating the effect of combined longitudinal and lateral slips. Simulations of a front-wheel-drive electric vehicle with multiple motors highlight the benefits of the proposed formulation with respect to a controller with a tire model for pure longitudinal slip. Objective performance indicators provide a performance assessment in traction control scenarios.

Keywords

  • Model predictive control
  • Traction control
  • Combined slip
  • Cornering response
  • Explicit solution

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  • DOI: 10.1007/978-3-030-38077-9_168
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References

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Correspondence to Mathias Metzler .

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Metzler, M., Scamarcio, A., Gruber, P., Sorniotti, A. (2020). Real-Time Capable Nonlinear Model Predictive Wheel Slip Control for Combined Driving and Cornering. In: Klomp, M., Bruzelius, F., Nielsen, J., Hillemyr, A. (eds) Advances in Dynamics of Vehicles on Roads and Tracks. IAVSD 2019. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-38077-9_168

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  • DOI: https://doi.org/10.1007/978-3-030-38077-9_168

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-38076-2

  • Online ISBN: 978-3-030-38077-9

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