@article{ref1,
title="Using future path information for improving the stability of an over-actuated vehicle",
journal="International journal of vehicle modelling and testing",
year="2009",
author="Backmark, Johan and Karlsson, Erik and Fredriksson, Jonas and Jonasson, Mats",
volume="4",
number="3",
pages="218-231",
abstract="In this paper, model predictive control (MPC) is applied for controlling an over-actuated vehicle. The control problem is associated with the distribution of the tyre forces to ensure vehicle stability. The use of MPC is shown to be a suitable method if the vehicle's future desired trajectory is known. Simulation studies conducted show that access to information in advance, even if such information is restricted to only a few seconds, significantly contributes to maintaining vehicle stability. Furthermore, a longer prediction horizon results in earlier actions and stabilises the vehicle even better.<p />",
language="",
issn="1745-6436",
doi="10.1504/IJVSMT.2009.029390",
url="http://dx.doi.org/10.1504/IJVSMT.2009.029390"
}