Gm Global Technolgoy Operations, Inc.

Asal Nahidi

Bakhtiar Brian Litkouhi

SeyedAlireza Kasaiezadeh Mahabadi

Ehsan Asadi

Isaac Tabatschnic

Gill Lipton

A method of controlling a vehicle includes obtaining a linear representation of a vehicle dynamics model that includes actuator dynamics u integrated with vehicle dynamics x. The actuator dynamics u include a road wheel angle at rear wheels &#x3b4;r and a torque Mz. The method also includes obtaining an objective function based on a function of the vehicle dynamics x and the actuator dynamics u and formulating a cost function to minimize the objective function. The actuator dynamics u including the torque Mz are determined for a next time sample based on minimizing the objective function. The vehicle is controlled to implement the torque Mz.

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North York, Canada

Asal Nahidi