Comparative Study of Trajectory Tracking Control for Automated Vehicles via Model Predictive Control and Robust H-infinity State Feedback Control

Kai Yang; Xiaolin Tang; Yechen Qin; Yanjun Huang; Hong Wang; Huayan Pu

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Comparative Study of Trajectory Tracking Control for Automated Vehicles via Model Predictive Control and Robust H-infinity State Feedback Control

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A comparative study of model predictive control(MPC)schemes and robust Hstate feedback control(RSC)method for trajectory tracking is proposed in this paper.The main objective of this paper is to compare MPC and RSC controllers’performance in tracking predefined trajectory under different scenarios.MPC controller is designed based on the simple longitudinal-yaw-lateral motions of a single-track vehicle with a linear tire,which is an approximation of the more realistic model of a vehicle with double-track motion with a non-linear tire mode.RSC is designed on the basis of the same method as adopted for the MPC controller to achieve a fair comparison.Then,three test cases are built in CarSim-Simulink joint platform.Specifically,the verification test is used to test the tracking accuracy of MPC and RSC controller under well road conditions.Besides,the double lane change test with low road adhesion is designed to find the maximum velocity that both controllers can carry out while guaranteeing stability.Furthermore,an extreme curve test is built where the road adhesion changes suddenly,in order to test the performance of both controllers under extreme conditions.Finally,the advantages and disadvantages of MPC and RSC under different scenarios are also discussed.

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《中国机械工程学报：英文版》 |2021年第4期|168-181|共14页
作者
Kai Yang; Xiaolin Tang; Yechen Qin; Yanjun Huang; Hong Wang; Huayan Pu;
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作者单位

College of Mechanical and Vehicle Engineering;

Chongqing University;

Chongqing 400000;

China;

School of Mechanical Engineering;

Beijing Institute of Technology;

Beijing 100080;

China;

School of Automotive Studies;

Tongji University;

Shanghai 201804;

China;

School of Vehicle and Mobility;

Tsinghua University;

Beijing 100080;

China;

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原文格式 PDF
正文语种 chi
中图分类自动化基础理论;
关键词
Trajectory tracking; Automated vehicles; Model predictive control; Robust H∞state feedback control;

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1. Multi-constrained model predictive control for autonomous ground vehicle trajectory tracking [J] . 龚建伟 ,徐威 ,姜岩 . 北京理工大学学报：英文版 . 2015,第4期
2. Dynamics Modeling and Robust Trajectory Tracking Control for a Class of Hybrid Humanoid Arm Based on Neural Network [J] . WANG Yueling ,JIN Zhenlin . 中国机械工程学报 . 2009,第003期
3. Velocity tracking control of BLDCM based on generalized predictive control [C] . CUI Yue-yuan ,WANG Yin-he ,Hid Jun . 2011年中国智能自动化会议 . 2011
4. Distributed Cooperative Tracking Control of Networked Systems via Robust Sliding Mode Control Strategies [A] . Maryam Munir . 2019

Comparative Study of Trajectory Tracking Control for Automated Vehicles via Model Predictive Control and Robust H-infinity State Feedback Control

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