A New Kind of Nonlinear Model Predictive Control Algorithm Enhanced by Control Lyapunov Functions

He, Yuqing; Jianda, H

doi:10.5772/46953

Cited by 1 publication

(1 citation statement)

References 15 publications

(20 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The motor torque in the steering system is used as the control input to achieve interpersonal collaborative control, which has a faster response speed. It can solve the problem of external constraints and model uncertainty 29 ; while ensuring that the driver participates in the driverless driving control loop in real time. This control method adopts receding horizon optimization to predict the system state of a period of time in the future and obtain the control input that minimizes the objective function.…”

Section: Introductionmentioning

confidence: 99%

Model predictive control of steering torque in shared driving of autonomous vehicles

Bao

Feng

et al. 2020

Science Progress

View full text Add to dashboard Cite

The current path tracking control method is usually based on the steering wheel angle loop, which often makes the driver lose control of the automatic driving control loop. In order to involve the driver in the automatic driving control loop, and to solve the vehicle path tracking control problem with system robustness and model uncertainty, this paper puts forward a steering torque control method based on model predictive control algorithm. Based on the vehicle model, this method introduces the steering system model and the steering resistance torque model, and calculates the optimal control torque of the vehicle through the real-time vehicle status, so as to make up for the model mismatch, interference and other uncertainties, and ensure the real-time participation of the driver in the automatic driving control loop. To combine the nonlinear vehicle dynamics model with the steering column model, and to take the vehicle state parameters as the feedback variables of the model predictive controller model, then input the solution of the steering superposition control rate into the vehicle model, the design of the steering controller is realized. Finally, to carry out the simulation of lane keeping based on CarSim software and Simulink control model, and the hardware in-the-loop test on the hardware in-the-loop experimental platform of CarSim/LabVIEW-RT. The simulation and test results indicate that the designed torque loop path tracking control method based on model predictive control can help the driver track the target path better.

show abstract

Section: Introductionmentioning

confidence: 99%