Active Front Steering Using Stable Model Predictive Control Approach via LMI

作者：Fesharaki Shekoofeh Jafari^*; Talebi Heidar Ali

来源：Control Engineering and Applied Informatics, 2014, 16(2): 90-97.

• Vehicle dynamics
• Quasi-infinite horizon
• Model Predictive Control
• Linear Matrix Inequality
• Stability

In this paper, a model predictive control (MPC). with guaranteed stability is used for controlling an active front steering system in an autonomous vehicle. At each control interval, it is assumed that by using information obtained from the sensors on the vehicle, a trajectory is known over a finite horizon, and then it is the predictive controller duty to compute the front steering angle as the control input until the vehicle follows the trajectory. In addition, for reducing computational load of implementing the controller we convert the MPC optimization problem into linear matrix inequality (LMI) form so the problem can be solved more efficiently. The effectiveness of the proposed MPC formulation is demonstrated by simulation. A comparison is made between the time consumed for solving LMI form of the problem and another approach of solving.

• 出版日期2014-6