Application Of Recursive Subspace Identification Method In Vehicle Predictive Control

This In order to improve the control effect of vehicle stability, a novel predictive control based on subspace identification is proposed. Different from the traditional subspace predictive control, the presented method is implemented by recursive version of PBSIDopt, which gives asymptotically consistent estimation and is suitable for slowly time-varying vehicle system. By using the proposed algorithm, two controllers are derived. The proposed controllers are validated by numerical examples under different road friction coefficients and vehicle speeds. The simulation results show that the proposed method is effective for vehicle stability control even when the non-linearities of tyre become severe.