Robust Model Predictive Control for Differential Speed Steering Vehicles

This paper studies the problem of designing robust model predictive control (RMPC) for four-wheel independently driven electric vehicles (FWIDEV) using differential speed steering. The nonlinear dynamic model of the electric vehicle is recast as a linear time-varying polytopic uncertain system. An important issue for this controller is the recursive solution for the lateral stabilisation of the uncertain system without the need for conventional steering. Consequently, based on the developed predictive model for the FWIDEV, sufficient conditions for the existence of an RMPC are given in terms of linear matrix inequalities (LMI) constraints, importantly, the stability conditions of the closed loop systems are also explained. Lastly, the proposed RMPC design shows strong disturbance attenuation and robustness for the uncertain system. The simulation results have also supported the proposed design as compared with a custom Matlab solver and other LMI designs.

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