Comparative Study of Trajectory Tracking Control for Automated Vehicles via Model Predictive Control and Robust H-infinity State Feedback Control

被引:0
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作者
Kai Yang
Xiaolin Tang
Yechen Qin
Yanjun Huang
Hong Wang
Huayan Pu
机构
[1] Chongqing University,College of Mechanical and Vehicle Engineering
[2] Beijing Institute of Technology,School of Mechanical Engineering
[3] Tongji University,School of Automotive Studies
[4] Tsinghua University,School of Vehicle and Mobility
来源
Chinese Journal of Mechanical Engineering | 2021年 / 34卷
关键词
Trajectory tracking; Automated vehicles; Model predictive control; Robust ; state feedback control;
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中图分类号
学科分类号
摘要
A comparative study of model predictive control (MPC) schemes and robust H∞\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$H_{\infty }$$\end{document} state feedback control (RSC) method for trajectory tracking is proposed in this paper. The main objective of this paper is to compare MPC and RSC controllers’ performance in tracking predefined trajectory under different scenarios. MPC controller is designed based on the simple longitudinal-yaw-lateral motions of a single-track vehicle with a linear tire, which is an approximation of the more realistic model of a vehicle with double-track motion with a non-linear tire mode. RSC is designed on the basis of the same method as adopted for the MPC controller to achieve a fair comparison. Then, three test cases are built in CarSim-Simulink joint platform. Specifically, the verification test is used to test the tracking accuracy of MPC and RSC controller under well road conditions. Besides, the double lane change test with low road adhesion is designed to find the maximum velocity that both controllers can carry out while guaranteeing stability. Furthermore, an extreme curve test is built where the road adhesion changes suddenly, in order to test the performance of both controllers under extreme conditions. Finally, the advantages and disadvantages of MPC and RSC under different scenarios are also discussed.
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