In this study, we propose a control method for a four-wheeled vehicle with drifted motion. We deal with the four-wheeled vehicle model that includes the effect of load transfers for each wheel and nonlinear tire model. Nonlinear model predictive control is used to determine the optimal control inputs and C/GMRES algorithm is applied for solving the optimization problem with low computational burden. Experimental results of a path tracking control, in which a target path is a sharp curve, verify that the control of target path tracking for four-wheeled vehicle can be achieved via real-time optimization.
2014 公益社団法人 計測自動制御学会