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1. 1. Optimal Vehicle Speed Control Using a Model Predictive Controller for an Overactuated Vehicle

   Master-uppsats, Linköpings universitet/Fordonssystem; Linköpings universitet/Tekniska fakulteten

   Författare :Mathias Mattsson; Rasmus Mehler; [2015]
   Nyckelord :MPC; Overactuated; Control Allocation; Vehicle Dynamics; Speed Control;

   Sammanfattning : 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. LÄS MER