A Comparative Study of Two Differet MPC Controllers Integrated With MHE

Mostafa Mohamed; Shady Maged; Mohamed Abdelwahab

doi:10.30939/ijastech..1631384

A Comparative Study of Two Differet MPC Controllers Integrated With MHE

Abstract

In Executing aggressive maneuvers, such as the Double Lane Change (DLC), presents a significant challenge for autonomous vehicle control, particularly when dealing with highly non-linear vehicle dynamics. This paper proposes a novel path-following and planning approach based on a comparative analysis of two distinct Nonlinear Model Predictive Control (NMPC) architectures. Developed using the CasADi framework within the MATLAB environment, the controllers are applied to a high-fidelity 8-Degree-of-Freedom (8-DOF) vehicle model, solved via the ode45 function. To ensure practical robustness against sensor noise, the control loop is integrated with a Moving Horizon Estimator (MHE), which significantly enhances the accuracy of state estimation during operation. The first control architecture implements a kinematic model, defining states by vehicle position and yaw angle to control wheel rotation speeds and steering. In comparison, the second architecture utilizes a comprehensive dynamic model that incorporates higher-order states, such as yaw rate and side-slip angle, with control inputs for independent front steering angles. We rigorously evaluated both controllers across a wide spectrum of longitudinal speeds and varying road surface conditions. The results assess the capability of each system to track predefined trajectories while strictly satisfying state and control constraints, ultimately clarifying the specific trade-offs between computational simplicity and the dynamic stability required for high-speed tracking tasks.

Keywords

References

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Details

Primary Language

English

Subjects

Automotive Mechatronics and Autonomous Systems

Journal Section

Research Article

Authors

Mostafa Mohamed ^*
0009-0008-8530-1983
Egypt

Shady Maged This is me
0000-0001-8641-9985
Egypt

Mohamed Abdelwahab
Egypt

Publication Date

December 31, 2025

Submission Date

February 1, 2025

Acceptance Date

July 24, 2025

Published in Issue

Year 2025 Volume: 9 Number: 4

DOI

https://doi.org/10.30939/ijastech..1631384

IZ

https://izlik.org/JA78HR74DF

Cite

RIS / Bibtex

APA

Mohamed, M., Maged, S., & Abdelwahab, M. (2025). A Comparative Study of Two Differet MPC Controllers Integrated With MHE. International Journal of Automotive Science And Technology, 9(4), 637-656. https://doi.org/10.30939/ijastech..1631384

AMA

1.Mohamed M, Maged S, Abdelwahab M. A Comparative Study of Two Differet MPC Controllers Integrated With MHE. IJASTECH. 2025;9(4):637-656. doi:10.30939/ijastech.1631384

Chicago

Mohamed, Mostafa, Shady Maged, and Mohamed Abdelwahab. 2025. “A Comparative Study of Two Differet MPC Controllers Integrated With MHE”. International Journal of Automotive Science And Technology 9 (4): 637-56. https://doi.org/10.30939/ijastech. 1631384.

EndNote

Mohamed M, Maged S, Abdelwahab M (December 1, 2025) A Comparative Study of Two Differet MPC Controllers Integrated With MHE. International Journal of Automotive Science And Technology 9 4 637–656.

IEEE

[1]M. Mohamed, S. Maged, and M. Abdelwahab, “A Comparative Study of Two Differet MPC Controllers Integrated With MHE”, IJASTECH, vol. 9, no. 4, pp. 637–656, Dec. 2025, doi: 10.30939/ijastech..1631384.

ISNAD

Mohamed, Mostafa - Maged, Shady - Abdelwahab, Mohamed. “A Comparative Study of Two Differet MPC Controllers Integrated With MHE”. International Journal of Automotive Science And Technology 9/4 (December 1, 2025): 637-656. https://doi.org/10.30939/ijastech. 1631384.

JAMA

1.Mohamed M, Maged S, Abdelwahab M. A Comparative Study of Two Differet MPC Controllers Integrated With MHE. IJASTECH. 2025;9:637–656.

MLA

Mohamed, Mostafa, et al. “A Comparative Study of Two Differet MPC Controllers Integrated With MHE”. International Journal of Automotive Science And Technology, vol. 9, no. 4, Dec. 2025, pp. 637-56, doi:10.30939/ijastech. 1631384.

Vancouver

1.Mostafa Mohamed, Shady Maged, Mohamed Abdelwahab. A Comparative Study of Two Differet MPC Controllers Integrated With MHE. IJASTECH. 2025 Dec. 1;9(4):637-56. doi:10.30939/ijastech. 1631384