| Popis: |
Torque Vectoring (TV) system uses an individually controlled electric powertrain to improve the dynamic behavior and enhance the handling and stability of a vehicle. In this paper, a Model Predictive Control (MPC) algorithm with a model of the vehicle identified using the Koopman operator theory is proposed. The Koopman operator is a linear predictor for nonlinear dynamical systems based on the lifting of the nonlinear dynamics in a higher-dimensional space where its evolution is linear. Using such a model may allow for achieving similar performance to those of a nonlinear MPC with the computational efficiency of a linear MPC. The Koopman MPC was compared to a Linear Time-Variant (LTV) MPC, a common approach in the existing literature, and showed increased performance. |
