Title :
A nonlinear IMC approach to vehicle yaw control
Author :
Canale, M. ; Novara, C. ; Signorile, M.C.
Author_Institution :
Dipt. di Autom. e Inf., Politec. di Torino, Turin, Italy
Abstract :
The use of a novel approach to nonlinear internal model control (NIMC) is investigated in vehicle yaw control context. The proposed control technique is based on recent results for the inversion of nonlinear dynamical systems from data in a Set Membership (SM) environment. Such inverse model is the basic element of the NIMC controller which contains also a nonlinear model of the vehicle dynamics identified via SM methodologies directly from data. Performance of the introduced control scheme is tested through simulation results obtained using a nonlinear model of the vehicle.
Keywords :
nonlinear control systems; nonlinear dynamical systems; vehicle dynamics; NIMC controller; SM environment; inverse model; nonlinear dynamical systems; nonlinear internal model control approach; set membership environment; vehicle dynamics; vehicle yaw control; Acceleration; Data models; Fading; Mathematical model; Robustness; Vehicle dynamics; Vehicles;
Conference_Titel :
Control Conference (ECC), 2009 European
Conference_Location :
Budapest
Print_ISBN :
978-3-9524173-9-3
