2026-05-22T14:51:07Zhttps://keep.lib.asu.edu/oai/requestoai:keep.lib.asu.edu:node-1874662024-12-23T18:01:48Zoai_pmh:alloai_pmh:repo_items187466
https://hdl.handle.net/2286/R.2.N.187466
http://rightsstatements.org/vocab/InC/1.0/
All Rights Reserved
2023
77 pages
Masters Thesis
Academic theses
Text
eng
Sudhakhar, Monish Dev
Chen, Yan
Ren, Yi
Xu, Zhe
Arizona State University
Partial requirement for: M.S., Arizona State University, 2023
Field of study: Mechanical Engineering
Advanced driving assistance systems (ADAS) are one of the latest automotive technologies for improving vehicle safety. An efficient method to ensure vehicle safety is to limit vehicle states always within a predefined stability region. Hence, this thesis aims at designing a model predictive control (MPC) with non-overshooting constraints that always confine vehicle states in a predefined lateral stability region. To consider the feasibility and stability of MPC, terminal cost and constraints are investigated to guarantee the stability and recursive feasibility of the proposed non-overshooting MPC. The proposed non-overshooting MPC is first verified by using numerical examples of linear and nonlinear systems. Finally, the non-overshooting MPC is applied to guarantee vehicle lateral stability based on a nonlinear vehicle model for a cornering maneuver. The simulation results are presented and discussed through co-simulation of CarSim® and MATLAB/Simulink.
Mechanical Engineering
Non-overshooting Model Predictive Control (MPC) Design for Vehicle Lateral Stability