An Mpc Approach to the Design of Motion Cueing Algorithms for a High Performance 9 Dofs Driving Simulator

Driving simulators (DS) of innovative mechanical structures tailored to specific market needs have been recently designed, due to the increasing diffusion of such devices in many different application fields. The effectiveness of DSs is related to the capability of the motion control strategies of faithfully reproducing the driving feelings, while staying within the operation space. Such strategies are called Motion Cueing Algorithms (MCAs). Their implementation strongly depends on the particular mechanical structure. In this paper, a MCA based on non-linear Model Predictive Control (MPC) is considered for a new-concept simulator, which is based on a combination of a hexapod over a flat base moved by a tripod, exhibiting a highly non-linear behaviour. In particular, the main goal is that of increasing performance in terms of yaw DOF exploitation, a crucial one to well reproduce driver feelings that is limited by the architecture of classical platforms. Preliminary results show a full exploitation of the working area, while managing all the limitations given by the structure.