Nonlinear control for the vehicle by numerical inversion of its behavioral model

This paper deals with the nonlinear longitudinal and lateral combined control for the vehicle based on a simple, fast, nonlinear dicrete time control approach. An approximate numerical one-step time discretization of the nonlinear plant model behavior is used to find out the outputs of controller that minimize the distance between the plant output and a linear system as closed loop reference, leading the system to adopt its dynamical behavior. Since that approximation is obtained from offline simulations and the prediction horizon is limited to one time-step, the execution time of the algorithm can be completely bounded. Experimental results obtained from some simulations show the performance and robustness of the proposed controller.