Youla-Kucera based online closed-loop identification for longitudinal vehicle dynamics

This paper deals with the identification of longitudinal dynamics of a cycab for subsequent control performance's improvement. Low-speed vehicle dynamic is used as physical model which non-linear behavior is highly complex to properly identify. Among several identification techniques, closed-loop identification gives better performance in a model-based control design. Here, the Hansen scheme is used to transform a closed-loop identification problem in an open-loop-like. The algorihtm is tested in a string of two cycabs equipped with a proportional-derivative-based cooperative adaptive cruise controller, showing how the resulting model is improved in comparison with an open-loop identification algorithm-ARX model.