Model predictive vehicle control with side slip angle restriction with suppression of modeling error by sliding mode control

In this paper, we propose a robust model predictive vehicle control with restriction of wheel side-slip angle. The proposed method confines the wheel side slip angle to the range of small value in order to linearize the force model and to avoid tire force saturation which strongly depends on the tire-road coefficient of friction. The linearization greatly helps to improve the computational speed on model predictive control. To cope with both the linearization error and the influence of uncertainty of road surface condition, we introduce sliding mode control and suppress the disturbance due to them. The effectiveness of the proposed method is verified by comparative simulations.