Ground Vehicle Generalized Forces and Moment Governor Design Via Noncertainty-Equivalent Adaptive Prescribed Performance Control

Abstract

Torque-vectoring technology demonstrates great potential in improving the safety and performance of ground vehicles. In this paper, a novel generalized forces and moment governor for torque vectoring is suggested. The proposed solution strategically combines prescribed performance control, noncertainty equivalent adaptive control design, and a smooth projection operator. The main advantage of the proposed control strategy lies in its capability to guarantee both the transient performance and prompt recovery of the desired deterministic behavior of the closed-loop adaptive system, even in the presence of parametric uncertainties. ASM simulation results are presented to validate the efficacy of the proposed generalized forces and moment governor and to demonstrate its superiority over a baseline solution.