Research on steady state drift control of unmanned vehicle based on model predictive control

Abstract

Traditional unmanned vehicles are generally limited to work under ordinary conditions, however the control strategy under extreme conditions still needs to be studied. This paper proposes a drift controller based on Model Predictive Control (MPC). Firstly, the saturation characteristics of the tire in the drift state are analyzed. On this basis, the drift steering mechanism of the vehicle model is analyzed, and the drift equilibrium point is obtained. Then the vehicle dynamics model is linearized at the equilibrium point, and the MPC drift controller is designed to realize the steady-state drift control of the vehicle. Finally, the effectiveness of the steady-state drift controller is verified by simulation.