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

Francisco Navas (1) , Vicente Milanés (2) , Fawzi Nashashibi (1)

1 RITS - Robotics & Intelligent Transportation Systems
2 RENAULT

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.

Mots clés: Closed-Loop system identification; Longitudinal vehicle dynamics; Linear-parameter-varying system; Youla-Kucera parametrization

Domaines: Automatique / Robotique; Génie mécanique [physics.class-ph]

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. ⟨hal-01591705⟩