Vehicle Yaw Rate Control System Design Based on Smart MBD

This paper presents a control system design scheme based on a "smart model-based development" (Smart MBD) approach. Smart MBD is a concept of a control system design approach using models and data. In conventional model-based controls, the control performance depends on the accuracy of models used in the controller design. Therefore, in the case where modeling errors occur due to changes in environmental conditions and/or aging deterioration, the control performance is degraded. In the smart MBD approach, introducing a data-driven controller into the model-based control system can prevent the degradation of the control performance caused by the model uncertainties. In this paper, a control system design scheme unifying a model predictive control and a data-driven control is proposed. The effectiveness of the proposed control scheme is evaluated by a numerical example on a vehicle yaw rate tracking control problem. Copyright (C) 2021 The Authors.