prikaz prve stranice dokumenta Optimizing vehicle handling through Koopman-based model predictive torque vectoring: An experimental investigation
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Optimizing vehicle handling through Koopman-based model predictive torque vectoring: An experimental investigation
Control Engineering Practice, 158 (2025); 106272. https://doi.org/10.1016/j.conengprac.2025.106272
Švec, Marko; Ileš, Šandor; Matuško, Jadranko

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Švec, M., Ileš, Š. i Matuško, J. (2025). Optimizing vehicle handling through Koopman-based model predictive torque vectoring: An experimental investigation. Control Engineering Practice, 158.. doi: 10.1016/j.conengprac.2025.106272

Švec, Marko, et al. "Optimizing vehicle handling through Koopman-based model predictive torque vectoring: An experimental investigation." Control Engineering Practice, vol. 158, 2025. https://doi.org/10.1016/j.conengprac.2025.106272

Švec, Marko, Šandor Ileš i Jadranko Matuško. "Optimizing vehicle handling through Koopman-based model predictive torque vectoring: An experimental investigation." Control Engineering Practice 158 (2025). https://doi.org/10.1016/j.conengprac.2025.106272

Švec, M., Ileš, Š. i Matuško, J. (2025) 'Optimizing vehicle handling through Koopman-based model predictive torque vectoring: An experimental investigation', Control Engineering Practice, 158. doi: 10.1016/j.conengprac.2025.106272

Švec M, Ileš Š, Matuško J. Optimizing vehicle handling through Koopman-based model predictive torque vectoring: An experimental investigation. Control Engineering Practice [Internet]. 15.02.2025. [pristupljeno 03.04.2025.];158. doi: 10.1016/j.conengprac.2025.106272

M. Švec, Š. Ileš i J. Matuško, "Optimizing vehicle handling through Koopman-based model predictive torque vectoring: An experimental investigation", Control Engineering Practice, vol. 158, Veljača 2025. [Online]. Dostupno na: https://urn.nsk.hr/urn:nbn:hr:168:116194. [Citirano: 03.04.2025.]

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Naslov (engleski)Optimizing vehicle handling through Koopman-based model predictive torque vectoring: An experimental investigation
AutorMarko Švec
AutorŠandor Ileš
AutorJadranko Matuško
Autorova ustanovaSveučilište u Zagrebu
Fakultet elektrotehnike i računarstva
Znanstveno / umjetničko
područje, polje i grana		TEHNIČKE ZNANOSTI
Elektrotehnika
Sažetak (engleski)
This paper presents a Koopman operator model predictive control (KMPC) torque vectoring where the vehicle model is represented by a finite-dimensional approximation of the Koopman operator obtained by using the extended dynamic mode decomposition. The Koopman operator acts like a linear predictor for a nonlinear dynamical system by lifting the nonlinear dynamics into a higher dimensional space where its evolution becomes linear. Different scenarios are simulated using the nonlinear vehicle... Više model to generate the required data set and to obtain the Koopman model used for the KMPC. The KMPC was implemented on the dSPACE MicroLabBox platform, followed by its evaluation in two different experiments. These experiments are conducted using a scaled four-wheel-drive electric vehicle driving on a treadmill that serves as a surrogate for the roadway. The performance of KMPC is compared to that of linear time-varying model predictive controller (LTV-MPC), and nonlinear model predictive controller (NMPC). The results show not only the real-time applicability of KMPC but also a comparable performance and lower computational complexity compared to NMPC. Additionally, an interesting effect of discretization and communication delay on the performance of both LTV-MPC, and NMPC is observed, whereas KMPC demonstrates robustness in this scenario. Sakrij dio sažetka
Ključne riječi (engleski)
Jezikengleski
Vrsta publikacijeZnanstveni rad - Izvorni znanstveni rad
Status objaveObjavljen
Vrsta recenzijeRecenziran - međunarodna recenzija
Verzija publikacijeObjavljena verzija rada (izdavačev PDF)
Naslov časopisaControl Engineering Practice
Brojčani podacivol. 158, 106272
BPC3360 EUR
p-ISSN0967-0661
DOIhttps://doi.org/10.1016/j.conengprac.2025.106272
URN:NBNurn:nbn:hr:168:116194
Datum objave elektroničkog izdanja2025-02-15
ProjektŠifra: UIP-2019-04-6487
Naziv (hrvatski): Prediktivno upravljanje dinamikom vozila
Naziv (engleski): Predictive vehicle dynamics control
Kratica: PVDC
Voditelj: Šandor Ileš
Pravna nadležnost: Hrvatska
Financijer: Hrvatska zaklada za znanost
Linija financiranja: Installation Research Projects
URL dokumentahttps://www.sciencedirect.com/science/article/pii/S0967066125000358
Vrsta resursaTekst
Prava pristupaOtvoreni pristup
Uvjeti korištenjaIkona licence Imenovanje 4.0 međunarodna (CC BY 4.0)
Datum i vrijeme pohrane2025-03-24 11:15:33
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