Vehicles, Volume 2, Issue 4 (December 2020) – 6 articles
Cover Story (view full-size image): The effectiveness of driving simulators depends largely on their ability to generate realistic motion cues. Though conventional filter-based motion-cueing strategies have provided reasonable results, these methods suffer from poor workspace management. In this paper, a new MPC-based algorithm has been designed that incorporates the nonlinear kinematics of the Stewart platform. Moreover, the human vestibular system model is included within the formulation to increase the fidelity of the produced motion cues. To manage the workspace efficiently, constraints are imposed on the actuator displacements, and state-dependent adaptive weights are used to tune the algorithm. The results indicate a better reference tracking and workspace utilization performance for the proposed algorithm when compared to conventional algorithms. View this paper.
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