Coordinated control design for steering and torque-vectoring in Model-Free Control structure*

Model-Free Control (MFC) approach is a novel technique to handle nonlinearities and uncertainties in control systems order provide enhanced performance level. The design of MFC based on an ultra-local model, which approximation the dynamics controlled system for short period time. This structure also involves model-based robust control, guarantees accurate tracking closed-loop system. In this paper, proposed designing taking into account varying characteristics model. A modeling method presented, combines original plant Then, proposed, by robustness can be guaranteed. steps effectiveness strategy demonstrated through vehicle-oriented problem using high-fidelity simulation software, CarMaker.