Path Tracking and Direct Yaw Moment Coordinated Control Based on Robust MPC With the Finite Time Horizon for Autonomous Independent-Drive Vehicles

It is a striking fact that the characteristics of parametric uncertainties, external disturbance, time-varying and nonlinearities are available in the constructed model of autonomous independent-drive vehicles; therefore, in this paper, the robust model predictive control (MPC) with the finite time...

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Bibliographic Details
Published in:IEEE transactions on vehicular technology Vol. 69; no. 6; pp. 6053 - 6066
Main Authors: Peng, Haonan, Wang, Weida, An, Quan, Xiang, Changle, Li, Liang
Format: Journal Article
Language:English
Published: New York IEEE 01.06.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Autonomous independent-drive vehicles
Computer simulation
Cornering
Degrees of freedom
direct yaw moment control
Dynamic characteristics
Electric vehicles
finite time horizon
Linear matrix inequalities
linear parameter varying model
Mathematical model
Optimization
Path tracking
path tracking control
Predictive control
Predictive models
Real-time systems
Robust control
robust model predictive control
Stiffness
Tires
Uncertainty
Vehicle dynamics
Vehicles
Wheels
Yawing moments
ISSN:0018-9545, 1939-9359
Online Access:Get full text
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Summary:It is a striking fact that the characteristics of parametric uncertainties, external disturbance, time-varying and nonlinearities are available in the constructed model of autonomous independent-drive vehicles; therefore, in this paper, the robust model predictive control (MPC) with the finite time horizon is proposed to realize the coordinated path tracking and direct yaw moment control (DYC) for autonomous four in-wheel motor independent-drive electric vehicles (AMIDEV). Firstly, considering the time-varying and uncertain feature of the tire cornering stiffness and the vehicle velocity in the state space equation constructed by 2 degrees of freedom (DoF) vehicle model and the path tracking preview model, the linear parameter varying (LPV) discrete model with four polytypic vertexes is constructed. Then, based on the linear matrix inequality (LMI) method, the novel robust MPC theory with the finite time horizon is put forward to solve the min-max optimization problem after updating four polytypic vertexes in real time, which could deal with the inevitable model mismatch problem caused by the time-varying, uncertain vehicle dynamic characteristics and external disturbance. Finally, the simulation and experimental results have verified that the proposed novel robust MPC theory could emerge from the stranglehold exercised by the conservativeness of the traditional robust MPC theory with the infinite time horizon, which strengthens the robustness of this control system as well as achieves better path tracking accuracy and handling ability of AMIDEV.
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ISSN:0018-9545
1939-9359
DOI:10.1109/TVT.2020.2981619