Modeling and Simulation of Path Tracking Controller Model Based on Model Predictive Control

被引：0
|
作者：
Shi, Peilong [1 ]
Li, Jq [2 ]
机构：
[1] Changan Univ, Sch Automobile, Xian, Shaanxi, Peoples R China
[2] Changan Univ, Sch Automobile, Xian, Shaanxi, Peoples R China
来源：
CICTP 2020: TRANSPORTATION EVOLUTION IMPACTING FUTURE MOBILITY | 2020年
基金：
国家重点研发计划;
关键词：
D O I：
暂无
中图分类号：
TU [建筑科学];
学科分类号：
0813 ;
摘要：
In this paper, the two-degree-of-freedom kinematics model of vehicle is established, and the differential equation of a vehicles two-degree-of-freedom model is discretized and linearized. A trajectory tracking controller based on model prediction algorithm is designed, and a reasonable constraint function is established based on the experiment, attempting to balance the accuracy of path tracking and vehicle stability. The algorithm is verified by Carsim and Simulink platform. The results show that the trajectory tracking controller based on model predictive control can track the preset trajectory better when it is below 5 m/s.
引用
收藏
页码：2249 / 2259
页数：11
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