Motion Cueing Algorithm for Effective Motion Perception: A frequency-splitting MPC Approach
Vishrut Jain, Andrea Lazcano, Riender Happee, Barys Shyrokau

TL;DR
This paper introduces a hybrid frequency-splitting MPC algorithm for driving simulators that improves motion cueing accuracy and reduces computation time, enabling real-time application.
Contribution
It proposes a novel hybrid algorithm combining filter-based and MPC techniques with frequency-splitting to enhance motion cueing performance and computational efficiency.
Findings
15% smaller RMSE for step signals
16% improvement in real-drive scenarios
90% improvement for multi-sine wave
Abstract
Model predictive control (MPC) is a promising technique for motion cueing in driving simulators, but its high computation time limits widespread real-time application. This paper proposes a hybrid algorithm that combines filter-based and MPC-based techniques to improve specific force tracking while reducing computation time. The proposed algorithm divides the reference acceleration into low-frequency and high-frequency components. The high-frequency component serves as a reference for translational motion to avoid workspace limit violations, while the low-frequency component is for tilt coordination. The total acceleration serves as a reference for combined specific force with the highest priority to enable compensation of deviations from its reference values. The algorithm uses constraints in the MPC formulation to account for workspace limits and workspace management is applied. The…
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Taxonomy
TopicsReal-time simulation and control systems · Vehicle Dynamics and Control Systems · Aerospace and Aviation Technology
