Slip-Constrained Model Predictive Control Allocation for an All-Wheel Driven Electric Vehicle
نویسندگان
چکیده
This contribution describes a real-time model predictive control allocation algorithm for over-actuated electric vehicles with individually driven wheels. The proposed method allows to exploit the inherent redundancy present in these systems to optimally allocate yaw moment and longitudinal force while considering actuator dynamics and complying with rate and wheel slip constraints. A linear formulation of the underlying model with varying parameters allows to take changing driving situations into account while guaranteeing fast computation times. The algorithm is tested and validated on a comprehensive vehicle model.
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