Trajectory tracking control for 4WD vehicles using MPC and adaptive fuzzy control

This paper proposes a control scheme considering both vehicle velocity responses and trajectory tracking performance for four wheels drive (4WD) vehicles, subject to the actuator constraints, external disturbance and various physical limits. The presented hierarchical control architecture consists of the trajectory planning module based on model predictive control (MPC) technique and dynamics control module based on direct adaptive fuzzy control approach. The upper layer MPC-based planner is utilized to achieve arbitrary reference trajectory tracking for the 4WD vehicle given by earth-fixed frame, as well as meeting various physical limits. Meanwhile, direct adaptive fuzzy controller is employed to track desired velocity signals generated by the upper planning module in the lower layer, sequentially the global asymptotical convergence of fuzzy adaptive controller is strictly guaranteed in sense of stability theorem. Simulation results are performed to validate feasibility of the presented control scheme and effectiveness of the developed control approaches.