本論文利用觀測/卡爾曼濾波器系統鑑別法建立出客製化高度非線性車控系統之模型，如Vehicle Dynamics-MATLAB & Simulink-MathWorks 2018a，並利用建構出來的模型更進一步推導出各種反應與伺服控制之車控系統相似的路徑追蹤導向之車控系統模擬器。主題包含了：一、觀測/卡爾曼濾波器系統鑑別法對於高度非線性系統之建模，例如車控系統；二、路徑追蹤導向之車控系統模擬器在監控式構架下之建立；三、路徑追蹤導向之車控系統模擬器與伺服控制之車控系統在各項特性的深入觀察。精準地說，首先，建立出車控系統之多模化數學模型並利用其結果得到路徑追蹤導向之車控系統模擬器，其結果由相關的伺服控制進行驗證。因此，加入輸入限制條件的多模化之改良模型預測控制方法及在線的速度大小與方位角更新的導入，令路徑追蹤導向之車控系統模擬器的成效卓越並得以驗證。其中，提出了以路徑追蹤導向之車控系統模擬器在監控式構架下的新策略以改善相鄰子系統因切換而引發之狀態不連續導致的暫態震盪。

In this thesis, the customized modelling of highly nonlinear autonomous vehicles, such as the Vehicle Dynamics-MATLAB & Simulink-MathWorks 2018a, is established by using the observation/Kalman filter system identification method, and the constructed model is used to further derive the path-tracking-oriented simulator with similar characteristics comparing to the servo-controlled vehicle dynamic system. The subject contains (i) the observation/ Kalman filter system identification method-based mathematical modellings for highly non-linear systems such as the vehicle dynamic system, (ii) the construction of the supervisory structure of the path-tracking-oriented simulators, and (iii) an insight on characteristics of the path-tracking-oriented simulator and the servo-controlled vehicle dynamic system. Precisely, first the multi-mode of the vehicle dynamic system is established and the path-tracking-oriented simulator is obtained consequently. The performance of the path-tracking-oriented simulator will be verified by the associated servo controller. Thus, the multi-mode-based-modified model predictive control method with input constraints and the online pose updating of the magnitude of velocity and heading angle are also presented, so that the effectiveness of the path-tracking-oriented simulator is successfully achieved and verified. Therein, a new strategy for the supervisory structure of the path-tracking-oriented simulators is proposed to significantly improve the transient oscillation induced by the discontinuous state transition between adjacent switching subsystems.

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