Youla-Kucera Based Online Closed-Loop Identification For Longitudinal Vehicle Dynamics

Abstract : This paper deals with the identification of longitudinal dynamics of a cycab for subsequent control performance's improvement. Low-speed vehicle dynamic is used as physical model which non-linear behavior is highly complex to properly identify. Among several identification techniques, closed-loop identification gives better performance in a model-based control design. Here, the Hansen scheme is used to transform a closed-loop identification problem in an open-loop-like. The algorihtm is tested in a string of two cycabs equipped with a proportional-derivative-based cooperative adaptive cruise controller, showing how the resulting model is improved in comparison with an open-loop identification algorithm–ARX model.
Type de document :
Communication dans un congrès
21st International Conference on System Theory, Control and Computing, Oct 2017, Sinaia, Romania. 〈http://www.icstcc2017.ac.tuiasi.ro/〉
Liste complète des métadonnées

Littérature citée [22 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-01591705
Contributeur : Francisco Navas <>
Soumis le : jeudi 21 septembre 2017 - 19:01:05
Dernière modification le : jeudi 2 août 2018 - 12:02:01

Fichier

YK_based_CL_identification_for...
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01591705, version 1

Collections

Citation

Francisco Navas, Vicente Milanés, Fawzi Nashashibi. Youla-Kucera Based Online Closed-Loop Identification For Longitudinal Vehicle Dynamics. 21st International Conference on System Theory, Control and Computing, Oct 2017, Sinaia, Romania. 〈http://www.icstcc2017.ac.tuiasi.ro/〉. 〈hal-01591705〉

Partager

Métriques

Consultations de la notice

150

Téléchargements de fichiers

93