Event-triggered predictive path following control for unmanned autonomous vehicle

被引：0
|
作者：
Zhang H. [1 ]
Zhang H.-M. [1 ]
Wang Z.-P. [1 ]
机构：
[1] Department of Control Science and Engineering, Tongji University, Shanghai
来源：
Kongzhi yu Juece/Control and Decision | 2019年 / 34卷 / 11期
关键词：
Event-triggered control; Model predictive control; Path following; Unmanned autonomous vehicle system;
D O I：
10.13195/j.kzyjc.2019.0306
中图分类号：
学科分类号：
摘要：
This paper studies the path following problem of nonlinear unmanned vehicle models with bounded disturbances, and proposes an event-triggered model predictive control algorithm. Compared with the existing model predictive control algorithm based on time period, the proposed algorithm can guarantee the accuracy of following the reference trajectory of the vehicle and reduce the computational complexity of solving optimization problems in the following process, then it can reduce the computational burden of on-line real-time optimization. Finally, the simulation results of the unmanned vehicle kinematics model are given. Through the comparision with the traditional algorithm, the effectiveness of the proposed algorithm is verified. © 2019, Editorial Office of Control and Decision. All right reserved.
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收藏
页码：2421 / 2427
页数：6
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