Explicit MPC motion cueing algorithm for real-time driving simulator

Although Model Predictive Control (MPC) technology can now be found in a wide variety of industrial process control applications, its application in the field of Motion Cueing Algorithm (MCA) is a relatively new issue. Its efficiency has been proven in the driving simulation thanks to the authors´ original work (explicit algorithm) and to others (implicit algorithm). The key for applying successfully the MPC algorithm in the field of MCA is to find an appropriate algorithm´s stability condition and an efficient in-line or off-line optimization algorithm. The stability condition proposed by this paper reduces significantly the number of partitioned regions for explicit algorithm and thus guarantees the real time tilt-linear optimal motion cues with complicated constraints. This condition can also be applied in the implicit algorithm. The first test in Renault´s simulator, ULTIMATE, has shown that the fidelity of driving simulation is effectively improved. It will greatly enhance the MPC algorithm´s application in the field of simulator motion cues.