MPC-Based Path Tracking Controller Design for Autonomous Ground Vehicles
作者单位：State Key Laboratory of Automotive Simulation and ControlJilin University(Campus NanLing) College of Communication EngineeringJilin University(Campus NanLing)
会议名称：《第36届中国控制会议》
会议届次：36
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：082304[工学-载运工具运用工程] 08[工学] 080204[工学-车辆工程] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 0823[工学-交通运输工程]
基 金：supported by National Nature Science Foundation of China(Grant No.61520106008,61403158,61603148) Project of the Education Department of Jilin Province(Grant No.2016-429)
关 键 词：Path tracking MPC Stability
摘 要：It is an important and essential aspect for autonomous ground vehicles to follow the desired *** this manuscript,a path tracking controller using model predictive control（MPC） method is *** order to describe the vehicle motion and its dynamics,kinematics and dynamics integrated model is first ***,the control strategy is proposed and MPC is employed to design the path tracking *** the following,the stability analysis is carried out and it shows that the system is proven to be asymptotically stable and theoretically it has no static *** order to validate the effectiveness of the proposed MPC-based path tracking controller,veDYNA-Simulink joint simulations under different velocities and road friction coefficient are carried out and the results illustrate that the path tracking algorithm obtains good tracking performance.