Model Following Nonlinear Predictive Control Considering Deterministic Disturbance and its Application to Vehicle Control

The nonlinear Predictive Control theory proposed by Lu is extended to provide a framework of model following control and to take into account the effects of deterministic disturbances. The response of nonlinear, continuous system at one-step ahead is predicted by series expansion of the state equation. Control inputs are determined by continuous minimization of predicted tracking errors. The proposed approach is applied to the rear-wheel steering control of motor vehicles. The effectiveness of this control method is examined through a series of computer simulations.