A Design of Control Systems Based on Smart Model-based Development (MBD) and Its Application to Yaw Rate Control of Automobiles

Abstract

In conventional model-based controls, the control performance depends on the accuracy of models used in the controller design. Therefore, in the case where the modeling errors occur due to changes in environmental conditions and/or aging deterioration, the control performance is deteriorated. In this paper, a control system design strategy based on “smart model-based development (S-MBD)” is presented. Smart MBD is a concept of a control system design approach using models and data. 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. The effectiveness of the proposed control method is confirmed by numerical examples on a vehicle yaw rate tracking control problem.