Online Adjustment Method of Model Error Compensator

In this study, the automatic tuning model error compensator (AT-MEC) is proposed. MEC is one of the two-degree-of-freedom control methods to suppress the influence of the model error. This compensator has sim-ple and general structure, and is easy to be implemented. However, there is no systematic tuning method for compensation gain for multi-input multi-output nonlinear systems. In this paper, the fictitious reference iterative tuning (FRIT) method is applied as on-line adjustment method of MEC. FRIT calculates the optimal value for parameters of a controller based on the deviation from a response of a reference closed loop model. By combinat-ing online tuning method to MEC, AT-MEC suppresses the influence of fluctuating model errors. In addition, to extend the applicability of the AT-MEC, the exact linearization technique is introduced to AT-MEC. As the result, the proposed method works for the fluctuating model error of a number of MIMO nonlinear systems. In this paper, the validity of this proposed method is verified by the experiment of an automatic driving vehicle.