MPC vehicle stability control based on phase plane stability domain boundaries

Abstract

This paper proposes an MPC stability control strategy based on phase-plane stability domain boundaries to address the issue of poor accuracy of control sequences computed by model predictive control (MPC)-based stability controllers due to constraint accuracy limitations. The stability domain boundary function is added to the state quantity constraints of the MPC stability controller by dividing the phase-plane linear stability domain of the center-of-mass lateral deflection and the swing angle velocity of the moving vehicle. This generates MPC constraints in real-time along with the current driving state of the vehicle, resulting in more accurate stability control of the vehicle. The simulation results show that compared with the traditional MPC stability control strategy, the MPC controller that introduces the boundary function of the phase plane stability domain plays with the limits of vehicle dynamics and has a better stability control effect.