Vehicle yaw control using a fast NMPC approach

A model predictive control approach to improve vehicle yaw rate dynamics by means of a rear active differential is introduced. In particular, the use of nonlinear predictive controllers is investigated to show their effectiveness in the vehicle stability control context. In order to allow the online implementation of the designed predictive control law, a fast technique based on set membership approximation methodologies using a nearest point approach is adopted. Enhancements on stability in demanding conditions such as ¿-split braking and damping properties in impulsive maneuvers are shown through simulation results performed on an accurate nonlinear model of the vehicle. Improvements over a well assessed approach which employ an enhanced IMC structure to handle input constraints will be shown too.