关键词: 实时性, 模型预测, 不等式约束优化, 时变权重系数

Abstract: Aiming at the real-time problem of vehicle stability control, this paper proposes an improved time-varying weight coefficient algorithm based on linear time-varying model predictive control (LTV-MPC) method to deal with inequality constrained optimization problems.The inequality constraint is taken as the penalty term of the objective function, and the weight coefficient of the penalty term is designed to change with the system state, which can directly solve the quadratic optimization problem with inequality constraint and avoid the iterative optimization process, thereby simplifying the calculation and improving the real-time performance of vehicle stability control.The simulation results show that the improved algorithm can not only handle inequality constraints, but also improve the real-time MPC control of vehicle stability.