Hybrid Parameter-Varying Model Predictive Control for lateral vehicle stabilization

Abstract

In this paper the concept of Hybrid Parameter-Varying Model Predictive Control (HPV-MPC) is applied for lateral vehicle stabilization. Parameter-varying in the MPC context means that a prediction model with non-constant, parameter-varying system matrices is employed. In the investigated scenario, the displacement of a car on an icy road under a side wind gust shall be mitigated. In order to explore a possible reduction of online computations and the inherent degradation of control performance, the nonlinear model of the lateral dynamics is approximated in various ways. A comparison between controllers using prediction models varying from the full nonlinear model, as an indication for the maximal achievable performance, to a linear model has been performed. Particular emphasis was put on the hybrid parameter-varying prediction model, to investigate their potential in terms of computational effort and control performance.