Implementation of the Grasshopper Optimisation Algorithm to Optimize Prediction and Control Horizons in Model Predictive Control-based Motion Cueing Algorithm

Abstract

Advances in utilisng motion simulators for skill training and related applications have yielded numerous benefits, such as safety, availability, and serviceability, environmentally friendly, and economically beneficial. To give simulator users a sense of realistic feeling of driving, an accurate motion cueing algorithm (MCA) is essential, in order to respect the simulator platform limitation and avoid motion sickness. The use of Model Predictive Control (MPC) in MCA designs leads to respecting the constraints and considering the future dynamic behaviors of the simulator. However, the tuning process of the MPC prediction horizon and control horizon still need to be improved. These horizons are normally selected manually by the designer. Previous studies on meta-heuristic algorithms produce a large prediction horizon with a heavy computational load or a small prediction horizon that sacrifices the stability and accuracy of the simulator system. In this study, the Grasshopper Optimization Algorithm (GOA) is adopted to yield optimal prediction and control horizons in MPC-based MCA models. The results are compared with those from the Butterfly Optimization Algorithm (BOA) and Genetic Algorithm (GA) in terms of sensation error and computation time. The GOA technique depicts the fastest process time to promptly detect proper MPC horizons. It does not affect the simulator's efficiency in utilising the workspace, as evidenced by the correlation coefficient and root mean square error between sensation from a real-world vehicle and the simulator.