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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    Title :

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


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:

    Conference:

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



    Publication date :

    2024-01-30


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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