Optimal Vehicle Speed Control Using a Model Predictive Controller for an Overactuated Vehicle
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.
Mathias Mattsson and Rasmus Mehler
2015
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