Nonlinear stability control of autonomous vehicles: a MIMO D2-IBC solution
作者： O. Galluppi , S. Formentin , C. Novara , S.M. Savaresi
DOI: 10.1016/J.IFACOL.2017.08.563
关键词:
摘要: Abstract Stability control represents one of the most challenging tasks in autonomous vehicle dynamics. Within this context, model uncertainty may play a crucial role determining quality overall system. In work, we deal with nonlinear stability design by using D 2 -IBC (Data Driven - Inversion Based Control) method, wherein dynamics system are modeled from data not to optimize open-loop matching but maximize closed-loop performance. Specifically, multivariable extension method is derived and discussed detail as far application concerned. This will prove its effectiveness on multi-body simulator 4-wheel steering vehicle.
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