Nonlinear Model Predictive Control for Enhanced Path Tracking and Autonomous Drifting through Direct Yaw Moment Control and Rear-Wheel-Steering

Autor:	Tavolo, Gaetano, Stano, Pietro, Tavernini, Davide, Montanaro, Umberto, Tufo, Manuela, Fiengo, Giovanni, Perlo, Pietro, Sorniotti, Aldo
Rok vydání:	2024
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	Path tracking (PT) controllers capable of replicating race driving techniques, such as drifting beyond the limits of handling, have the potential of enhancing active safety in critical conditions. This paper presents a nonlinear model predictive control (NMPC) approach that integrates multiple actuation methods, namely four-wheel-steering, longitudinal tyre force distribution, and direct yaw moment control, to execute drifting when this is beneficial for PT in emergency scenarios. Simulation results of challenging manoeuvres, based on an experimentally validated vehicle model, highlight the substantial PT performance improvements brought by: i) vehicle operation outside the envelope enforced by the current generation of stability controllers; and ii) the integrated control of multiple actuators. Comment: 6 pages, 2 figures, submitted to 16th International Symposium on Advanced Vehicle Control (AVEC 24), Milan, Italy, 2024
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2406.02198 Zobrazit plný text záznamu View this record from Arxiv