Approximation Method of Nonlinear Optimal Control and Application to Large Side Slip Angle Following Control

Abstract

This paper deals with the approximation method of nonlinear optimal control. It is shown theoretically that this method is able to deal with the criterion as a function of nonlinear system state variables and time-varying target and this method is appreciable to various nonlinear motion controls. This method is applied to sideslip angle following control of RR vehicle with direct yaw moment control (DYC) and this method is compared to usual proportional control using the vehicle model simulation. It is clarified that this method is effective to control the vehicle vith DYC over the tire critical range.