Abstract:
In the modern era of automotive industry, Active Front Steering (AFS) control is in
hot pursuit due to its increased inbuilt vehicle maneuverability, reduced risk of
instability and thereby significant reduction in number of accident occurrences. In
this paper, a novel control strategy of Model Predictive Controller (MPC) with
robust Optimal Guaranteed Cost Controller (OGCC) is introduced for AFS control.
In the proposed scheme, MPC is designed to compensate for the effect of the
driver’s steering input, modeled as a known disturbance. Thus, providing the
optimal solution by satisfying control input constraint. The OGCC controller
renders the system robustness to the effect of system uncertainties, while achieving
acceptable performance for tracking the desired vehicle trajectory. The complete
controller scheme achieves the best results with RMS error < and thus whilst
guaranteeing the stability of vehicle in the presence of uncertain environment.
Numerical simulation results are performed to the effectiveness of the proposed
approach over other conventional techniques
