In this paper, an Adaptive Model Predictive Controller (AMPC) is proposed to control the lateral velocity and yaw rate of a vehicle under longitudinal speed changing. The required model for the controller synthesis and simulation conduction is detailed, and the Pacejka nonlinear model is introduced to depict the road/tire friction forces. The vehicle model is also used to feed the controller with desired driver dynamics behavior based on a reference front steering angle. The ability of the proposed strategy is appraised under various challenging driving scenarios by means of numerical simulation.


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    Titel :

    Adaptive Model Predictive Control Based Lateral Velocity and Yaw Rate Tracking for Road Wheeled Vehicles


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    El Fadil, Hassan (Herausgeber:in) / Zhang, Weicun (Herausgeber:in) / Rahmouni, Fatima-Zahra (Autor:in) / Bakhti, Mohammed (Autor:in)

    Kongress:

    International Symposium on Automatic Control and Emerging Technologies ; 2023 ; Kenitra, Morocco July 11, 2023 - July 13, 2023



    Erscheinungsdatum :

    30.01.2024


    Format / Umfang :

    13 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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