Vehicle Position and Attitude Control By State Dependent Riccati Equation with Consideration for Skidding

在本研究中，我们考虑了车辆的整体控制系统设计，同时考虑了车辆运动和轮胎力的非线性，提出了主动转向控制、模型匹配控制和基于状态相关Riccati方程的滑模控制方法，这是非线性系统的实时控制方法之一。数值仿真验证了所提控制方法的有效性。

In this research, we consider the integrated control system design of vehicle with consideration for skidding and nonlinearity of the vehicle motion and tire force, and propose active steering control, model matching control and sliding mode control method based on state dependent Riccati equation that is one of the real time control method for nonlinear system. The effectiveness of proposed control method is verified by numerical simulations.