Model Predictive Control for Vehicle Yaw Stability With Practical Concerns

@article{Choi2014ModelPC,
  title={Model Predictive Control for Vehicle Yaw Stability With Practical Concerns},
  author={Mooryong Choi and Seibum B. Choi},
  journal={IEEE Transactions on Vehicular Technology},
  year={2014},
  volume={63},
  pages={3539-3548}
}
This paper presents a method for electronic stability control (ESC) based on model predictive control (MPC) using the bicycle model with lagged tire force to reflect the lagged characteristics of lateral tire forces on the prediction model of the MPC problem for better description of the vehicle behavior. To avoid the computational burden in finding the optimal solution of the MPC problem using the constrained optimal control theory, the desired states and inputs as references are generated… CONTINUE READING
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