Motion Cueing Control Design Based On A Nonlinear Mpc Algorithm

摘要

This paper deals with the analysis and design of motion cueing algorithms which can be formulated in terms of constrained control problems. Automotive manufacturers using driving simulation for ADAS development need to design their controllers, called Motion Cueing Algorithms (MCA), in order to render the expected feelings to the subjects. Ultimately, the goal is to bring the virtual driving environment to the realism of the driving scenes. Our contribution in the present work is focused on the development of two nonlinear MPC schemes that include the inherent physical constraints but consider also the real-time requirements. The first one privileges the lateral linear movement of the platform while the other focuses on the nonlinear rotational part. The paper summarizes this line of development with a horizon-based design of MCA using the trade-off between computational effort and tracking performance.