Advanced Generalized Predictive Control

Abstract

A method of controlling a vehicle utilizing a controller having a vehicle model that corresponds to the vehicle. The method includes utilizing the controller to provide inputs during vehicle operation, and measuring vehicle outputs for a plurality of times while the vehicle is in operation. The method further includes determining modeling parameters of the vehicle model to thereby model vehicle behavior, wherein the modeling parameters are determined based upon the utilized inputs and the measured outputs. Predicted vehicle outputs for the plurality of times are determined, at least in part, by utilizing the determined modeling parameters. The system further includes determining a system error for the plurality of times utilizing a difference between the measured vehicle outputs and the predicted vehicle outputs. The vehicle model is modified to provide adaptive changes while the vehicle is in operation based, at least in part, on the system error.

Dependencies are inferred from the claim text.