Trajectory-Tracking Control of Unmanned Vehicles Based on Adaptive Variable Parameter MPC

Abstract

Aiming at the problems of the poor trajectory-tracking performance and low control accuracy of unmanned vehicles under complex working conditions, we first estimate the lateral force of tires using the square root cubature Kalman filter (SRCKF) in order to correct the lateral stiffness of the tires online, which reduces the model bias caused by constant lateral stiffness, and then adopt a Gaussian function-based adaptive time-domain model predictive control method to improve the trajectory-tracking control accuracy of unmanned vehicles under complex working conditions. Finally, the proposed control algorithm is validated via Carsim and MATLAB/Simulink joint simulation. The results show that compared with the classical model predictive control (MPC) algorithm, the proposed control algorithm reduces the average lateral tracking error by 73.07% and the peak beta and the peak yaw rate by 50.89% and 47.51%, respectively, so that the unmanned vehicle is able to maintain good tracking performance and control accuracy.

Keywords

• unmanned vehicle
• SRCKF
• Gaussian
• tire cornering stiffness estimation
• time domain adaptive