The DOI matches its Crossref record; 10 of the 10 references it cites were found in a registry or an index.
Model Predictive Control for Vehicle Stabilization at the Limits of Handling
Abstract
Recent developments in vehicle steering systems offer new opportunities to measure the steering torque and reliably estimate the vehicle sideslip and the tire-road friction coefficient. This paper presents an approach to vehicle stabilization that leverages these estimates to define state boundaries that exclude unstable vehicle dynamics and utilizes a model predictive envelope controller to bound the vehicle motion within this stable region of the state space. This approach provides a large operating region accessible by the driver and smooth interventions at the stability boundaries. Experimental results obtained with a steer-by-wire vehicle and a proof of envelope invariance demonstrate the efficacy of the envelope controller in controlling the vehicle at the limits of handling.
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Citations
Cites
Boyd, S., & Vandenberghe, L. (2004) · doi:10.1017/cbo9780511804441 · Cited by 56,601
Predictive Active Steering Control for Autonomous Vehicle Systems
Falcone, P., Borrelli, F., Asgari, J., Tseng, H. E., & Hrovat, D. (2007) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2007.894653 · Cited by 1,408
Convex Optimization in Signal Processing and Communications
(2009) · Cambridge University Press eBooks · doi:10.1017/cbo9780511804458 · Cited by 554
Nonlinear Model Predictive Control: Towards New Challenging Applications
(2009) · Lecture Notes in Control and Information Sciences · doi:10.1007/978-3-642-01094-1 · Cited by 429
Exact penalty functions in nonlinear programming
Han, S.-P., & Mangasarian, O. L. (1979) · Mathematical Programming · doi:10.1007/bf01588250 · Cited by 407
Exact penalty functions in nonlinear programming
Evans, J. P., Gould, F. J., & Tolle, J. W. (1973) · Mathematical Programming · doi:10.1007/bf01584647 · Cited by 304
Real-Time Convex Optimization in Signal Processing
Mattingley, J., & Boyd, S. (2010) · IEEE Signal Processing Magazine · doi:10.1109/msp.2010.936020 · Cited by 300
Falcone, P., Borrelli, F., Tseng, H. E., Asgari, J., & Hrovat, D. (2008) · International Journal of Robust and Nonlinear Control · doi:10.1002/rnc.1245 · Cited by 282
Integrating Inertial Sensors With Global Positioning System (GPS) for Vehicle Dynamics Control
Ryu, J., & Gerdes, J. C. (2004) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.1766026 · Cited by 200
Self-citationA preliminary study to integrate LTV-MPC lateral vehicle dynamics control with a slip control
Palmieri, G. F., Barbarisi, O., Scala, S., & Glielmo, L. (2009) · IEEE Conference on Decision and Control (CDC) · doi:10.1109/cdc.2009.5400483 · Cited by 23
Cited by
Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing
Betz, J., Zheng, H., Liniger, A., Rosolia, U., Karle, P., Behl, M., Krovi, V., & Mangharam, R. (2022) · IEEE Open Journal of Intelligent Transportation Systems · doi:10.1109/ojits.2022.3181510 · Cited by 322
Metadata
- Authors
- Beal, C. E., & Gerdes, J. C.
- Venue
- IEEE Transactions on Control Systems Technology
- Published
- 2013-07
- Volume
- 21
- Issue
- 4
- Pages
- 1258-1269
- ISSN
- 1063-6536 (ISSN-L)
- 1558-0865
- OpenAlex
- W1979317847
- Cited by
- 465
- References
- 10
- FWCI
- 21.37
- Type
- journal article
- Language
- en
- Open access
- closed
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