Wang, Jun (Southeast University), Zhang, Ning (Southeast University), Li, Zihong (Southeast University), Lu, Hangyu (Shanghai Jiao Tong University), Wang, Cheng (Heriot-Watt University), Yin, Guodong (Southeast University)

Robust Model Predictive Control of High-Frequency Vibration in an Advanced Mobility Unit

Scheduled for presentation during the Regular Session "S27c-Safety and Risk Assessment for Autonomous Driving Systems" (TH-LA-T27), Thursday, November 20, 2025, 16:00−16:20, Broadbeach 3

2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), November 18-21, 2025, Gold Coast, Australia

This information is tentative and subject to change. Compiled on October 18, 2025

Abstract

Aiming at the high-frequency vibration caused by the structural characteristics of the steering system in the advanced mobility unit when driving at high speed, which is exacerbated by the high degrees of freedom enabled by mechanical decoupling, an active control strategy based on robust model predictive control (RMPC) is proposed in this study. Firstly, a nonlinear model of the advanced mobility unit integrating steering motor and the magic formula is established, and the influence of the unsprung mass on the critical stabilization speed of the system is revealed by the Hopf bifurcation. To address the challenges of model uncertainty and external disturbances, a two-layer RMPC architecture based on the nominal model and error compensation is constructed. The simulation results demonstrate the strong robustness of the control strategy to parameter uncertainties and time-varying disturbances. The research overcomes the limitations of the traditional mechanical steering system and provides theoretical basis and methodological support for the active control of shimmy for advanced mobility unit.