Automated control beyond the limits of friction: A nonlinear model predictive approach for with production vehicle experimental verification

Abstract—This paper proposes a Nonlinear Model Predictive Control (NMPC) application for automated drifting, with exper- imental verification on a standard production vehicle, without hardware modifications. The controller stabilizes the vehicle on a high sideslip angle, which implies an equilibrium condition beyond tyre friction limits. The...

Curating City Intensities: The unravelled sensory experience of the urban public realm

In the eighteenth century, the city centre of the metropolis of London was the most chaotic due to its immense industries and excessive noise and smell. This sensorial overstimulation brought and still brings potential unsustainable health and well-being effects on its urban participants. <br/><br/>This research explores the redefinition and...

Multi-Objective Trajectory Optimization for a Scaled Vehicle

The introduction of control systems in the automotive industry has significantly increased safety. Improved control over the vehicle dynamics has been shown to contribute to substantial reductions in the number of deaths and serious injuries resulting from road traffic crashes. The introduction of Electronic Stability Control yielded impressive...