4966 / Real-Time Implementation Of Non-Linear Controllers And Predictors For Off-Road Vehicle Dynamics On Embedded Systems

Authors

Andries J. Peenze, A. Glenn Guthrie, and P. Schalk Els

Paper presented at ISTVS 2024 | 21st International and 12th Asia-Pacific Regional Conference of the ISTVS Keywords: Off-road vehicle dynamics; Real-time control; Embedded control; Non-linear control https://doi.org/10.56884/V3EPP9IS

Abstract

The vehicle dynamics of off-road vehicles tend to be non-linear concerning suspension dynamics, tyre-terrain interactions, and subsystem kinematics. These non-linearities limit the performance of control due to the need for linearization to enable real-time application. Implementing real-time non-linear controllers and prediction methods on embedded systems, such as the dSPACE MicroAutoBox 2 (MABX2), is challenging due it being computationally intensive. This challenge is particularly pronounced for controllers utilizing optimization schemes with non-linear solvers to solve optimal control problems. In this paper, we explore the possibility of embedding non-linear optimal controllers and predictors on a MABX2 for real-time applications. The implementation uses CasADi to formulate and code-generate the problems, and then executes this code using S-Functions in Simulink or off-loading the execution to a powerful external computer. We discuss the limitations and special considerations for these real-time implementations for off-road vehicle applications.

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