Model predictive control based on extended state observer for vehicle yaw stability
QU Yi
XU Fang
YU Shu-you
CHEN Hong
LI Zong-li
Abstract：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.
Keywords：vehicle yaw stabilitymodel predictive controlextended state observeruncertain disturbance
Publication Date：2020-05-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：9( 941-949 )