Citation

Backmark J, Karlsson E, Fredriksson J, Jonasson M. Int. J. Veh. Syst. Model. Test. 2009; 4(3): 218-231.

Copyright

(Copyright © 2009, Inderscience Publishers)

DOI

10.1504/IJVSMT.2009.029390

PMID

unavailable

Abstract

In this paper, model predictive control (MPC) is applied for controlling an over-actuated vehicle. The control problem is associated with the distribution of the tyre forces to ensure vehicle stability. The use of MPC is shown to be a suitable method if the vehicle's future desired trajectory is known. Simulation studies conducted show that access to information in advance, even if such information is restricted to only a few seconds, significantly contributes to maintaining vehicle stability. Furthermore, a longer prediction horizon results in earlier actions and stabilises the vehicle even better.