MPC-Based Trajectory Tracking Via Active Front Steering and External Yaw Moment

In this paper, we propose a trajectory tracking method based Model Predictive Control (MPC) by utilizing steering and yaw moment. The main control objective is to track the desired trajectory with the front steering angle and yaw moment. And an external logic computes the torques at the four wheels such that the yaw moment is achieved, at the same time the logic controls the tire slip ratio around 0.15. Finally, the effectiveness of the proposed approach is demonstrated through the simulations at low and high speed.