Yaw Stability Control of Unmanned Emergency Supplies Transportation Vehicle Considering Two-Layer Model Predictive Control

The transportation of emergency supplies is characterized by real-time, urgent, and non-contact, which constitute the basic guarantee for emergency rescue and disposal. To improve the yaw stability of the four-wheel-drive unmanned emergency supplies transportation vehicle (ESTV) during operation, a two-layer model predictive controller (MPC) method based on a Kalman filter is proposed in this paper. Firstly, the dynamics model of the ESTV is established. Secondly, the improved Sage-Husa adaptive extended Kalman filter (SHAEKF) is used to decrease the impact of noise on the ESTV system. Thirdly, a two-layer MPC is designed for the yaw stability control of the ESTV. The upper-layer controller solves the yaw moment and the front wheel steering angle of the ESTV. The lower-layer controller optimizes the torque distribution of the four tires of the ESTV to ensure the self-stabilization of the ESTV operation. Finally, analysis and verification are carried out. The simulation results have verified that the improved SHAEKF can decrease the state estimation error by more than 78% and achieve the noise reduction of the ESTV state. Under extreme conditions of high velocity and low adhesion, the average relative error is within 6.77%. The proposed control method can effectively prevent the instability of the ESTV and maintain good yaw stability.