Nonlinear Model Predictive Control for Enhanced Path Tracking and Autonomous Drifting through Direct Yaw Moment Control and Rear-Wheel-Steering
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arXiv
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| Format: | Preprint |
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2024
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| _version_ | 1866917797180735488 |
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| author | Tavolo, Gaetano Stano, Pietro Tavernini, Davide Montanaro, Umberto Tufo, Manuela Fiengo, Giovanni Perlo, Pietro Sorniotti, Aldo |
| author_facet | Tavolo, Gaetano Stano, Pietro Tavernini, Davide Montanaro, Umberto Tufo, Manuela Fiengo, Giovanni Perlo, Pietro Sorniotti, Aldo |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_02198 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Nonlinear Model Predictive Control for Enhanced Path Tracking and Autonomous Drifting through Direct Yaw Moment Control and Rear-Wheel-Steering Tavolo, Gaetano Stano, Pietro Tavernini, Davide Montanaro, Umberto Tufo, Manuela Fiengo, Giovanni Perlo, Pietro Sorniotti, Aldo Systems and Control 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. |
| title | Nonlinear Model Predictive Control for Enhanced Path Tracking and Autonomous Drifting through Direct Yaw Moment Control and Rear-Wheel-Steering |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2406.02198 |