TY  - JOUR
PY  - 2009//
TI  - Using future path information for improving the stability of an over-actuated vehicle
JO  - International journal of vehicle modelling and testing
A1  - Backmark, Johan
A1  - Karlsson, Erik
A1  - Fredriksson, Jonas
A1  - Jonasson, Mats
SP  - 218
EP  - 231
VL  - 4
IS  - 3
N2  - 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 /> 
LA  - 
SN  - 1745-6436
UR  - http://dx.doi.org/10.1504/IJVSMT.2009.029390
ID  - ref1
ER  -