Constrained Model Predictive Control for dynamic path tracking of a bi-steerable rover on slippery grounds

Fnadi, Mohamed; Du, Wenqian; Plumet, Frédéric; Benamar, Faiz

doi:10.1016/j.conengprac.2020.104693

Cited by 22 publications

(18 citation statements)

References 17 publications

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“…As shown in Figures 12,13,14, both controllers could ensure vehicle stability during path tracking. The maximum vehicle sideslip angle did not exceed 3°, the yaw rate did not exceed 5 rad/s, and the maximum vehicle roll angle did not exceed 3°.…”

Section: Casementioning

confidence: 96%

“…The vehicle lateral stability constraints are defined by the bounds of the two key variables of vehicle sideslip angle β and yaw rate r. The bounds of the β and r reflect the maximum capabilities of the tire under the assumptions of steady-state cornering [30]. The maximum steady-state yaw rate and vehicle sideslip angle can be expressed as Considering the tire saturation and maximum tire lateral force, the maximum steady-state yaw rate and vehicle sideslip angle can also be expressed as (13) min u(k) The vehicle stability constraints defined by Eq. ( 20) can be expressed as the matrix inequality.…”

Section: Stability Constraintsmentioning

confidence: 99%

“…A dynamic path tracking controller for a double-steering mobile robot on slippery grounds was designed in Ref. [13].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive Coordinated Path Tracking Control Strategy for Autonomous Vehicles with Direct Yaw Moment Control

Tian

Yao

Hang

et al. 2022

Chin. J. Mech. Eng.

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It is a striking fact that the path tracking accuracy of autonomous vehicles based on active front wheel steering is poor under high-speed and large-curvature conditions. In this study, an adaptive path tracking control strategy that coordinates active front wheel steering and direct yaw moment is proposed based on model predictive control algorithm. The recursive least square method with a forgetting factor is used to identify the rear tire cornering stiffness and update the path tracking system prediction model. To adaptively adjust the priorities of path tracking accuracy and vehicle stability, an adaptive strategy based on fuzzy rules is applied to change the weight coefficients in the cost function. An adaptive control strategy for coordinating active front steering and direct yaw moment is proposed to improve the path tracking accuracy under high-speed and large-curvature conditions. To ensure vehicle stability, the sideslip angle, yaw rate and zero moment methods are used to construct optimization constraints based on the model predictive control frame. It is verified through simulation experiments that the proposed adaptive coordinated control strategy can improve the path tracking accuracy and ensure vehicle stability under high-speed and large-curvature conditions.

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Section: Casementioning

confidence: 96%

Section: Stability Constraintsmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive Coordinated Path Tracking Control Strategy for Autonomous Vehicles with Direct Yaw Moment Control

Tian

Yao

Hang

et al. 2022

Chin. J. Mech. Eng.

View full text Add to dashboard Cite

show abstract

“…Accurate vehicle state estimation results directly improve the sensing capability of intelligence vehicles, which is important for path tracking, trajectory tracking, and active safety controller design of intelligence vehicles. Mohamed Fnadi et al proposed a nonlinear tire stiffness observer for the real-time tire stiffness estimation problem, and the Kalman-Bucy filter was used for lateral velocity estimation and a constrained MPC path tracking controller based on accurate state parameter information was proposed to improve the effectiveness of path tracking [3,4]. Hyo-Seok Kang et al designed a robust tracking control method based on the estimation results provided by the state observer [5].…”

Section: Introductionmentioning

confidence: 99%

Vehicle State Estimation Using Interacting Multiple Model Based on Square Root Cubature Kalman Filter

Wenkang,

Jingan,

Bao

et al. 2021

Applied Sciences

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The distributed drive arrangement form has better potential for cooperative control of dynamics, but this drive arrangement form increases the parameter acquisition workload of the control system and increases the difficulty of vehicle control accordingly. In order to observe the vehicle motion state accurately and in real-time, while reducing the effect of uncertainty in noise statistical information, the vehicle state observer is designed based on interacting multiple model theory with square root cubature Kalman filter (IMM-SCKF). The IMM-SCKF algorithm sub-model considers different state noise and measurement noise, and the introduction of the square root filter reduces the complexity of the algorithm while ensuring accuracy and real-time performance. To estimate the vehicle longitudinal, lateral, and yaw motion states, the algorithm uses a three degree of freedom (3-DOF) vehicle dynamics model and a nonlinear brush tire model, which is then validated in a Carsim-Simulink co-simulation platform for multiple operating conditions. The results show that the IMM-SCKF algorithm’s fusion output results can effectively follow the sub-model with smaller output errors, and that the IMM-SCKF algorithm’s results are superior to the traditional SCKF algorithm’s results.

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“…Model Predictive Control (MPC) technique is another method suggested for actuator amplitude and rate saturation in [4,5]. Giovanini [5] in their study formulate the problem as an equivalent optimal control and introducing AWBT (Anti-Windup-Bumpless-Transfer) method to be used together with the MPC.…”

Section: Introductionmentioning

confidence: 99%

Simultaneous feedforward online command rate limiter filters for existing controllers

TOMBUL

2021

Turk J Elec Eng & Comp Sci

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One of the biggest challenges in controller design for a mechatronics system is the actuator limitations. Either response time of the actuator and the input constraints, create limits for the controller performance and stability. In this study a novel feedforward online rate limiter scheme for arbitrary input signals is introduced by taking velocity, acceleration and jerk constraints into account and it is investigated that how the control effort and system response is affected by the demand signal's rate of change limitations. A fin actuation system for a guided missile is given as an example where the demand signal comes from the guidance system online. Different online rate limiting schemes are reviewed and simulations are carried out for comparison. Proposed method is shown to be effective via simulation and confirmed by experimental results for the existing controller.

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Constrained Model Predictive Control for dynamic path tracking of a bi-steerable rover on slippery grounds

Cited by 22 publications

References 17 publications

Adaptive Coordinated Path Tracking Control Strategy for Autonomous Vehicles with Direct Yaw Moment Control

Adaptive Coordinated Path Tracking Control Strategy for Autonomous Vehicles with Direct Yaw Moment Control

Vehicle State Estimation Using Interacting Multiple Model Based on Square Root Cubature Kalman Filter

Simultaneous feedforward online command rate limiter filters for existing controllers

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