An anti-slip predictive controller for a V-PRA vehicle

C. Cochior, R. De Keyser, C. Lazar

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In this paper an anti-slip predictive controller is designed and implemented in order to control the rear wheels of a V-PRA (Variable Powered Rear Axle) vehicle. The control algorithm is EPSAC, a Model based Predictive Control (MPC) strategy. It uses explicitly a model of the system for the prediction of the future system output, in order to calculate the optimal control input which will bring the system to a required setpoint. The main goals of this predictive controller were setpoint trajectory following, disturbance rejection and maintain overall the stability of the V-PRA vehicle. Although the process is nonlinear, being influenced by several parameters, linear discrete-time ARX models could be obtained based on system linearization around an operating point. An initial SISO controller was developed and tested, based on a Simulink model of the process. The control performances were tested successfully in presence of all kind of disturbances, denoting a robust controller.
Original languageEnglish
Title of host publicationProceedings of the 18th IFAC World Congress, August 28 - September 2, 2011, Milan, Italy
Place of PublicationOxford
Publication statusPublished - 2011


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