模型预测控制
控制理论(社会学)
包络线(雷达)
模型验证
线性模型
工程类
控制工程
计算机科学
航空航天工程
控制(管理)
人工智能
机器学习
雷达
数据科学
作者
Craig E. Beal,J. Christian Gerdes
标识
DOI:10.3182/20100712-3-de-2013.00041
摘要
As manufacturers offer glimpses of their future vehicles, it is apparent that computational power and sensory information will significantly increase. These advances offer the opportunity to design a controller that leverages new information to improve stability while attaining a higher level of coordination with the driver. In this paper, the authors present an approach that utilizes axle slip angles to define an envelope in which the vehicle behavior is stable and predictable. A linear model predictive controller using front active steering is developed. Experimental results using a steer-by-wire test vehicle are presented to demonstrate the functionality of the controller. Analysis of the results includes discussion of the limitations of the linear controller in controlling the vehicle at the limits of handling and how disturbances and unmodeled driver input can cause the slip angles to deviate from this envelope.
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