A Generalized Predictive Control Approach for Angle Tracking of Steer-by-Wire System

被引：0

作者：

Xu, Ziang ^{[1
]}

Shi, Qin ^{[1
]}

Wei, Yujiang ^{[1
]}

Wang, Mingwei ^{[1
]}

He, Zejia ^{[1
]}

He, Lin ^{[2
]}

机构：

[1] Hefei Univ Technol, Sch Automot & Transportat Engn, Hefei, Peoples R China

[2] Hefei Univ Technol, Lab Automot Intelligence & Elect, Hefei, Peoples R China

来源：

2021 60TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE) | 2021年

关键词：

Angle tracking; Generalized predictive control; Steer-by-wire;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper focuses on the angle tracking control of the steer-by-wire system for self-driving vehicles. A generalized predictive control approach is developed using Taylor approximation method. A key feature of the proposed controller is that an explicitly analytical form of the optimal predictive controller is derived. In addition, it is desirable for implementation, and its parameters are easy to be adjusted. A slalom path is utilized to carry out the steering control. The validity of the proposed controller is verified by simulation. Excellent results were obtained regarding angle tracking, fast response, and stability, which indicates that the proposed generalized predictive control law is a good alternative for the control of the steer-by-wire system.

引用

页码：272 / 275

页数：4

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