The paper presents a Model Predictive Control Allocation (MPCA) method in order to
coordinate the motion actuators of a heavy vehicle. The presented method merges the …

With the recent emergence of electric drivetrains, a faster and energy efficient braking
actuator the electric motor has become available to complement the operation of the …

Ground vehicles are over-actuated systems, a property that is exploited in hierarchical
control architectures in order to attain more cohesive handling and improved road holding …

Advancement of the state of the art of automotive technologies is a continuous process. It is
essential for automotive engineers to combine the knowledge of vehicle dynamics and …

The scope of this paper is the development of a model predictive control allocation (MPCA)
algorithm for over-actuated electric vehicles with individually steered and driven wheels. The …

In this paper we present a Model Predictive Control (MPC) approach for combined braking
and steering systems in autonomous vehicles. We start from the result presented in F …

This paper presents an improved approach to the problem of energy efficient driving of
heavy duty vehicles. The proposed model for a map-based Model Predictive Control (MPC) …

Advanced passenger vehicles are complex dynamic systems that are equipped with several
actuators, possibly including differential braking, active steering, and semi-active or active …

In this paper we present a Model Predictive Control (MPC) approach for combined braking
and steering systems in autonomous vehicles. We start from the result presented in (Borrelli …

This paper shows how actuator coordination, based on control allocation, can be used in the
motion control system for long articulated heavy vehicles. Usage of a control allocation …