Constrained Linear Quadratic Optimal Controller for Motion Control of ATMOS Driving Simulator

In this paper, a new model based motion cueing approach based on a constrained finite horizon linear quadratic optimal controller for ATMOS driving simulator is presented. In addition, a new approach is used to rep- resent the sustained acceleration for the tilt coordination. The basic idea of the new approach is based on mini- mizing the difference between the perceived motions of the vehicle and the simulator. Compared to the conven- tional motion cueing algorithms, the proposed approach provides a more realistic impression, the workspace of the simulator is better exploited and all the constraints of the driving simulator are respected. Models of the human perception system in combination with simulator dynamic model are used to design the constrained linear quad- ratic optimal controller. The proposed controller has a feedback from the measured accelerations of the simulator and has a feedforward part from the reference trajectory.