TY  - JOUR
PY  - 2012//
TI  - A model predictive control approach to vehicle yaw control using identified models
JO  - Proceedings of the Institution of Mechanical Engineers, Part D: Journal of automobile engineering
A1  - Canale, M.
A1  - Fagiano, L.
A1  - Signorile, M. C.
SP  - 577
EP  - 590
VL  - 226
IS  - 5
N2  - A vehicle equipped with a front steer-by-wire device is considered and the related control design problem dealt with by using a yaw rate feedback structure. In order to effectively handle both the system non-linearities and the input constraints, a Non-linear Model Predictive Control (NMPC) technique is adopted. A novelty of the present paper is that the vehicle model employed by the NMPC algorithm is obtained from previously collected input/output data, using a Non-linear Set Membership (NSM) identification methodology. Since the NSM approach is able to provide a model with minimal worst-case identification error, improved robustness of the closed-loop system is obtained with respect to that of an NMPC law based on a physical vehicle model. Furthermore, the measure of the model uncertainty provided by the NSM approach allows one to perform a theoretical robust stability analysis of the closed-loop system. The effectiveness of the proposed technique is shown through numerical simulations of manoeuvres using a detailed vehicle model.<p />  <p>Language: en</p>
LA  - en
SN  - 0954-4070
UR  - http://dx.doi.org/10.1177/0954407011424098
ID  - ref1
ER  -