Optimization-based Multi-actuator Control for Autonomous Vehicles

This paper presents a novel controller structure for multi-actuator control of autonomous vehicles. The proposed cascade structure establishes an internal model controller (IMC) for force and moment control to gain a robust solution. An optimization-based allocation algorithm generates the desired force and moment. The optimization problem is formulated to be a second-order cone programming (SOCP) problem. In this method, the nonlinearities, physical limitations are considered. Different control rules are created based on physical expressions focusing on minimizing intuitively tuned parameters. The former and the novel rules are examined, compared, and evaluated by simulations. The presented simulation results show that the proposed structure is robust against external and internal parameter changes and disturbances.