ABSTRACT
ABSTRACT: A model-based integrated controller for the active steering and active braking systems of a prototype electric vehicle is proposed to enhance the vehicle stability and handling, particularly in limit conditions. The hierarchical control structure based on Model Predictive Control (MPC) is adopted to deal with the nonlinearity and constraints of the vehicle system. In order to reduce the prediction error of the model based controller, the vehicle parameters and vehicle dynamics states are estimated using a Dual Unscented Kalman filter. The proposed controller shows satisfactory performance for the same vehicle with different load condition in the simulation results.
1 INTRODUCTION
