VSD MPC simulator paper.pdf (1.41 MB)
Model predictive driving simulator motion cueing algorithm with actuator-based constraints
The simulator motion cueing problem has been considered extensively in the literature; approaches based on linear filtering and optimal control have been presented and shown to perform reasonably well. More recently, model predictive control (MPC) has been considered as a variant of the optimal control approach; MPC is perhaps an obvious candidate for motion cueing due to its ability to deal with constraints, in this case the platform workspace boundary. This paper presents an MPC-based cueing algorithm that, unlike other algorithms, uses the actuator positions and velocities as the constraints. The result is a cueing algorithm that can make better use of the platform workspace whilst ensuring that its bounds are never exceeded. The algorithm is shown to perform well against the classical cueing algorithm and an algorithm previously proposed by the authors, both in simulation and in tests with human drivers.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
VEHICLE SYSTEM DYNAMICSVolume
51Issue
8Pages
1151 - 1172 (22)Citation
GARRETT, N.J.I. and BEST, M.C., 2013. Model predictive driving simulator motion cueing algorithm with actuator-based constraints. Vehicle System Dynamics, 51 (8), pp. 1151 - 1172.Publisher
© Taylor & FrancisVersion
- AM (Accepted Manuscript)
Publisher statement
This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/Publication date
2013Notes
This is an Accepted Manuscript of an article published by Taylor & Francis in Vehicle System Dynamics on 23/04/2013, available online: http://wwww.tandfonline.com/10.1080/00423114.2013.783219ISSN
0042-3114Publisher version
Language
- en