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jadyahya Roll-Yaw-and-Lateral-Velocity-MPC - GitHub This GitHub repository contains the implementation of a Model Predictive Controller (MPC) designed for integrated lateral stability, traction braking control, and rollover prevention of electric vehicles in very high-speed (VHS) racing applications The controller aims to achieve stable control at
Model Predictive Control for Integrated Lateral Stability After developing the vehicle dynamic model, a controller is recreated from the work in [1] that considers integrated handling improvement, vehicle lateral stability, rollover pre-vention, and slip control in braking and traction for electric vehicles
Applications of model predictive control to vehicle dynamics for active . . . The structure utilized for envelope control may also be used to restrict other vehicle states for safety and stability Results are presented in this dissertation to show that a model predictive controller can coordinate a secondary actuator to alter the planar states and reduce the energy transferred into the roll modes of the vehicle
A practical open-source approach to Model Predictive Control using the . . . This paper introduces an open-source software tool that simplifies the implementation of MPC using the LGR pseudospectral method The software addresses challenges such as computational complexity and accessibility, offering a flexible and user-friendly platform for solving control problems
Autonomous Vehicle Control with Model Predictive Control - GitHub Two approaches are derived using NMPC formulation, with the first relying on a full tenth-order vehicle model and the second based on a simplified bicycle model The README discusses the effectiveness of both approaches through simulations and experiments Keywords: Vehicle dynamics control, model predictive control, autonomous vehicles
APPLICATIONS OF MODEL PREDICTIVE CONTROL TO VEHICLE DYNAMICS FOR ACTIVE . . . However, incorporating additional information is a challenge on its own Current production stability control systems utilize a limited suite of measurements, includ-ing vehicle yaw rate, speed, lateral acceleration, and steering wheel position These measurements are reliable and readily available on production vehicles, but do not yield a complete picture of the vehicle behavior As a result
Nonlinear Model Predictive Lateral Stability Control of Active Chassis . . . Nonlinear Model Predictive Lateral Stability Control of Active Chassis for Intelligent Vehicles and Its FPGA Implementation Abstract: The rapid development of intelligent vehicles has paved the way for active chassis lateral stability, which is a novel issue and critical to vehicle stability and handling performance
Model Predictive Contouring Control for Vehicle Obstacle Avoidance at . . . This paper proposes a non-linear Model Predictive Contouring Control (MPCC) for obstacle avoidance in automated vehicles driven at the limit of handling The proposed controller integrates motion planning, path tracking and vehicle stability objectives, prioritising obstacle avoidance in emergencies The controller's prediction model is a non-linear single-track vehicle model with the Fiala