# 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 {% hint style="info" %} 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\ {% endhint %} ## 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. *** Full paper purchase: \ ISTVS members receive three complimentary papers per year: --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://2024.istvs.org/submissions/papers/4966.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.