Model Predictive Control with Numerical Solution based on Contraction Mapping Method for Stabilization of Vehicle Nonlinear Dynamics

Abstract

This paper investigates the nonlinear model predictive control problem for stabilization of unstable vehicle dynamics. Model predictive control (MPC) method is a kind of optimal feedback control method in which the control performance over a finite future is optimized. The contraction mapping algorithm is used for solving the nonlinear model predictive control problem within a short sampling period. A nonlinear tire model is employed to describe the realistic behavior of vehicle motions. The objective of this paper is to propose a nonlinear model predictive control method with a fast numerical solution algorithm called contraction mapping method for designing an automatic vehicle control system. The effectiveness of the proposed method is verified by numerical simulation.