TY - GEN
T1 - Trajectory Tracking Control of Autonomous Vehicle with Double Layer Controller
AU - Song, Jiarui
AU - Tao, Gang
AU - Wu, Zheng
AU - Dong, Haotian
AU - Wu, Shaobin
AU - Gong, Jianwei
N1 - Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - Aiming at improving the yaw stability of unmanned ground vehicles during high-speed steering, a double layer control architecture based on feedback linearization and model predictive control is proposed. The upper controller uses the model predictive control algorithm and the lower controller uses the feedback linearization method. This architecture makes full use of the performance advantages of the two controllers and improves the accuracy of the controller model and the path tracking performance while ensuring the real-time performance of the calculation. Finally, the effectiveness of this control framework is verified by the joint simulation of MATLAB/Simulink and CarSim, which proves that the performance of this controller is higher than that of the single-layer dynamic MPC controller.
AB - Aiming at improving the yaw stability of unmanned ground vehicles during high-speed steering, a double layer control architecture based on feedback linearization and model predictive control is proposed. The upper controller uses the model predictive control algorithm and the lower controller uses the feedback linearization method. This architecture makes full use of the performance advantages of the two controllers and improves the accuracy of the controller model and the path tracking performance while ensuring the real-time performance of the calculation. Finally, the effectiveness of this control framework is verified by the joint simulation of MATLAB/Simulink and CarSim, which proves that the performance of this controller is higher than that of the single-layer dynamic MPC controller.
KW - MATLAB/Simulink CarSim co-simulation
KW - Unmanned ground vehicle
KW - double layer controller
KW - feedback linearization
KW - model predictive control
UR - http://www.scopus.com/inward/record.url?scp=85128080669&partnerID=8YFLogxK
U2 - 10.1109/CAC53003.2021.9727558
DO - 10.1109/CAC53003.2021.9727558
M3 - Conference contribution
AN - SCOPUS:85128080669
T3 - Proceeding - 2021 China Automation Congress, CAC 2021
SP - 3507
EP - 3512
BT - Proceeding - 2021 China Automation Congress, CAC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 China Automation Congress, CAC 2021
Y2 - 22 October 2021 through 24 October 2021
ER -