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Active Front Steering LTV MPC for Varying Friction Conditions

[+] Author Affiliations
Nicola De Val, Andrea Fuso, Francesco Braghin, Edoardo Sabbioni

Politecnico di Milano, Milano, Italy

Paper No. DETC2014-34279, pp. V003T01A016; 6 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 16th International Conference on Advanced Vehicle Technologies; 11th International Conference on Design Education; 7th Frontiers in Biomedical Devices
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4634-6
  • Copyright © 2014 by ASME


The developed Active Front Steering (AFS) Linear Time Variant (LTV) Model Predictive Control (MPC) is a linear model predictive control based on linearization of the nonlinear vehicle model. A sensitivity analysis of the parameters of the controller is carried out on a simple path following test. Once the optimal parameters are found, both in terms of trajectory following and real-time performances, the LTV-MPC is used for determining the requirements for the necessary sensors (in terms of minimum obstacle distance detection) as a function of the vehicle speed. Then, the same analysis is carried out considering wet road conditions (i.e. the tyre-road friction coefficient is different from that accounted for by the controller).

Copyright © 2014 by ASME
Topics: Friction



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