確定外乱を考慮したモデル追従型非線形予測制御とその車両運動制御への応用(機械力学,計測,自動制御)

概要

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The nonlinear Predictive Control theory proposed by Lu is extended to provide a framework of model following control and to take into account the effects of deterministic disturbances. The response of nonlinear, continuous system at one-step ahead is predicted by series expansion of the state equation. Control inputs are determined by continuous minimization of predicted tracking errors. The proposed approach is applied to the rear-wheel steering control of motor vehicles. The effectiveness of this control method is examined through a series of computer simulations.
一般社団法人日本機械学会の論文
2004-10-25