REVIEW AND PROSPECTS OF RENAULT'S MPC BASED MOTION CUEING ALGORITHM FOR DRIVING SIMULATOR

In recent years, MPC algorithm as a new method has been successfully applied for the design of motion cueing algorithm. By using an adequate formulation of MPC model and an efficient QP solver, the MPC algorithm can provide better motion restitution results than the more conventional algorithms. However, few papers give a description in detail of the used MPC technique together with the right tuning parameters. Furthermore, the algorithm's stability condition is hardly addressed in motion cueing algorithm design, except a small number of studies where generally a quasi-zero terminal set condition was applied. It is probably less critical for driving simulators without large motion platform, but it can be a crucial safety factor to consider for high performance driving simulators where the motion velocity and acceleration can be high. In this paper, we summarize the most important works on the MPC based motion cueing algorithm, including the tuning experiences.