| Summary: | Distributed electric drive vehicles offer maneuver-ability but face stability challenges under different driving conditions. Model Predictive Control (MPC) algorithms can improve lateral stability, but their high computational demands hinder real-time implementation. To address this, the proposed strategy combines Nonlinear Autoregressive Exogenous (NARX) neural networks with MPC in two ways, namely, Nonlinear Prediction-Nonlinear Optimization (NMPC-NO) and Nonlinear Prediction-Linearization (MPC-NPL). While NMPC-NO involves online nonlinear optimization, MPC-NPL uses local linearization, reducing both the computational load significantly to about 40% of the computation time of MPC and 0.05% of that of nonlinear model predictive control (NMPC). The neural networks are trained and validated on 20 different datasets, with alternative training methods investigated. MATLAB/Simulink simulations under various standardized tests demonstrate the effectiveness of the proposed techniques, highlighting improved handling performance, reduced computation time, and real-time deployment capabilities.
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