TY - JOUR
T1 - A model predictive speed tracking control approach for autonomous ground vehicles
AU - Zhu, Min
AU - Chen, Huiyan
AU - Xiong, Guangming
N1 - Publisher Copyright:
© 2016 Elsevier Ltd
PY - 2017/3/15
Y1 - 2017/3/15
N2 - This paper presents a novel speed tracking control approach based on a model predictive control (MPC) framework for autonomous ground vehicles. A switching algorithm without calibration is proposed to determine the drive or brake control. Combined with a simple inverse longitudinal vehicle model and adaptive regulation of MPC, this algorithm can make use of the engine brake torque for various driving conditions and avoid high frequency oscillations automatically. A simplified quadratic program (QP) solving algorithm is used to reduce the computational time, and the approach has been applied in a 16-bit microcontroller. The performance of the proposed approach is evaluated via simulations and vehicle tests, which were carried out in a range of speed-profile tracking tasks. With a well-designed system structure, high-precision speed control is achieved. The system can robustly model uncertainty and external disturbances, and yields a faster response with less overshoot than a PI controller.
AB - This paper presents a novel speed tracking control approach based on a model predictive control (MPC) framework for autonomous ground vehicles. A switching algorithm without calibration is proposed to determine the drive or brake control. Combined with a simple inverse longitudinal vehicle model and adaptive regulation of MPC, this algorithm can make use of the engine brake torque for various driving conditions and avoid high frequency oscillations automatically. A simplified quadratic program (QP) solving algorithm is used to reduce the computational time, and the approach has been applied in a 16-bit microcontroller. The performance of the proposed approach is evaluated via simulations and vehicle tests, which were carried out in a range of speed-profile tracking tasks. With a well-designed system structure, high-precision speed control is achieved. The system can robustly model uncertainty and external disturbances, and yields a faster response with less overshoot than a PI controller.
KW - Autonomous ground vehicles
KW - Model predictive control
KW - Real-time optimization
KW - Speed control
KW - Speed tracking
UR - http://www.scopus.com/inward/record.url?scp=84962109770&partnerID=8YFLogxK
U2 - 10.1016/j.ymssp.2016.03.003
DO - 10.1016/j.ymssp.2016.03.003
M3 - Article
AN - SCOPUS:84962109770
SN - 0888-3270
VL - 87
SP - 138
EP - 152
JO - Mechanical Systems and Signal Processing
JF - Mechanical Systems and Signal Processing
ER -