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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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Literature
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Metzler, M., Tavernini, D., Sorniotti, A., Gruber, P.: Explicit nonlinear model predictive control for vehicle stability control. In: 9th International Munich Chassis Symposium 2018, pp. 733–752. Springer Vieweg, Wiesbaden (2018)
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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
Book
Advances in Dynamics of Vehicles on Roads and Tracks

Print ISBN: 978-3-030-38076-2

Electronic ISBN: 978-3-030-38077-9

Copyright Year: 2020

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

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