NMPC-Based Yaw Stability Control by Active Front Wheel Steering

Abstract

This paper proposes a nonlinear model predictive control (NMPC) method for active front steering (AFS) system to improve vehicle handling and stability performance at handling limits. Nonlinear vehicle and tire models are adopted in this proposed NMPC controller to describe the nonlinear dynamics of vehicle and tire. In addition, the nonlinear optimal problem is solved by nonlinear solver in MATLAB optimization toolbox. Finally, this study explores the effectiveness of the NMPC system through sine and double lane change maneuver. Results corroborate that the proposed NMPC system can enhance the yaw stability at the handling limits.