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Optimal Vehicle Speed Control Using a Model Predictive Controller for an Overactuated Vehicle
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
2015 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

To control the speed of an overactuated vehicle there may be many possible ways to use the actuators of the car achieving the same outcome. The actuators in an ordinary car is a combustion engine and a friction brake. In some cases it is trivial how to coordinate actuators for the optimal result, but in many cases it is not.

The goal with the thesis is to investigate if it is possible to achieve the same or improved performance with a more sophisticated control structure than today's, using a model predictive controller. A model predictive controller combines the possibility to predict the outcome through an open-loop controller with the stability of a closed loop controller and gives the optimal solution for a finite horizon optimization problem.

A simple model of the longitudinal dynamics of a car is developed and used in the model predictive controller framework. This is then used in simulations and in a real car. It is shown that it is possible to replace the current controller structure with a model predictive controller, but there are advantages and disadvantages with the new control structure.

Place, publisher, year, edition, pages
2015. , 76 p.
Keyword [en]
MPC, Overactuated, Control Allocation, Vehicle Dynamics, Speed Control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-119480ISRN: LiTH-ISY-EX--15/4841--SEOAI: oai:DiVA.org:liu-119480DiVA: diva2:823369
External cooperation
Volvo Cars
Subject / course
Vehicular Systems
Supervisors
Examiners
Available from: 2015-06-18 Created: 2015-06-18 Last updated: 2015-06-22Bibliographically approved

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CiteExportLink to record
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