The invention discloses a
robust control method for the stability of a special vehicle on a soft and rugged
road surface, and relates to the technical field of
vehicle control. Comprising the steps that driver input is acquired, and reference input of a controller is generated based on a reference generation model in combination with vehicle
kinematics and dynamics principles; a linear form model is constructed as a control-oriented basic model, model error
estimation is performed by using real-time online data generated by operation of a real vehicle
system, a model based on interference
estimation is constructed, and real-time correction and compensation of a
vehicle dynamics model are realized; and on the basis of the corrected and compensated off-road
vehicle dynamics model, control quantities are generated and sent to the vehicle through
yaw stability control based on MPC and
torque distribution based on optimization, and stability control over the vehicle is achieved. The method can dynamically adapt to complex working conditions of soft and rugged road surfaces, so that a
vehicle dynamics model is more accurate, and a reliable foundation is laid for subsequent control.