Botes, WianBotha, Theunis R.Els, Pieter Schalk2023-05-022023-05-022023Wian Botes, Theunis R. Botha & P. Schalk Els (2023) Real-time lateral stability and steering characteristic control using non-linear model predictive control, Vehicle System Dynamics, 61:4, 1063-1085, DOI: 10.1080/00423114.2022.2057334.0042-3114 (print)1744-5159 (online)10.1080/00423114.2022.2057334http://hdl.handle.net/2263/90543This paper presents a non-linear integrated control strategy that primarily focuses maintaining vehicle lateral stability using active front steering and differential braking. The proposed control strategy utilises a non-linear model predictive controller to improve lateral stability. A stable linear reference model is used for reference generation. By including the understeer gradient in the reference model, different kinematic responses are obtained from the controlled vehicle. The prediction model utilises the road friction estimate to create dynamic stability constraints that include rollover and sliding of the vehicle. The design of the model predictive controller allows easy activation of different control actuators and dynamic modification to the control behaviour. The control methodology is validated using MATLAB/Simulink and a validated MSC ADAMS model. A sensitivity analysis is conducted to identify the susceptibility of the control strategy to various parameters and states.en© 2022 Informa UK Limited, trading as Taylor & Francis Group. This is an electronic version of an article published in Vehicle System Dynamics, vol. 61, no. 4, pp. 1063-1085, 2023, doi: 10.1080/00423114.2022.2057334. Vehicle System Dynamics is available online at : http://www.tandfonline.comloi/nvsd20.Non-linear model predictive controlIntegrated controlAdvanced driver assist systemLateral stabilitySideslip angle controlEngineering, built environment and information technology articles SDG-04SDG-04: Quality educationEngineering, built environment and information technology articles SDG-09SDG-09: Industry, innovation and infrastructureEngineering, built environment and information technology articles SDG-11SDG-11: Sustainable cities and communitiesPostprint Article