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2020 | OriginalPaper | Chapter

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

Authors: Mathias Metzler, Alessandro Scamarcio, Patrick Gruber, Aldo Sorniotti

Published in: Advances in Dynamics of Vehicles on Roads and Tracks

Publisher: Springer International Publishing

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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.
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Metadata
Title
Real-Time Capable Nonlinear Model Predictive Wheel Slip Control for Combined Driving and Cornering
Authors
Mathias Metzler
Alessandro Scamarcio
Patrick Gruber
Aldo Sorniotti
Copyright Year
2020
DOI
https://doi.org/10.1007/978-3-030-38077-9_168

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