基于扩张状态观测器的车辆横摆稳定模型预测控制器设计

Model predictive control based on extended state observer for vehicle yaw stability

针对车辆横摆稳定性控制问题,本文提出一种基于扩张状态观测器的线性模型预测控制器设计方法.首先,将非线性车辆模型线性化,建立带有模型误差干扰项的线性模型,其中线性化导致的模型误差采用扩张状态观测器估计得到,并证明了观测器的稳定性.然后基于此模型设计线性预测控制器,近似实现了非线性预测控制器的控制效果,同时降低了计算量.最后,通过不同路况下的仿真实验结果,验证了所提方法的计算性能和控制效果.

In this paper, a linear model predictive control(LMPC) based on extended state observer(ESO) strategy is proposed to improve vehicle stability. Firstly, a linear model with disturbance term is obtained by linearizing the nonlinear vehicle system. The plant-model mismatch and external disturbance are captured by ESO, and its stability is assessed. In the following, estimated disturbance is compensated in the LMPC controller to meet the performance by nonlinear model predictive control(NMPC), and the computational burden is decreased at the same time. Finally, the simulation results under different road conditions verify the computational performance and control effect of the proposed method.