A Novel Dynamic Model-Based Predictive Control of Unmanned Ground Vehicles

被引：0
|
作者：
Zuo, Zhiqiang [1 ]
Yang, Mengjia [1 ]
Wang, Yijing [1 ]
机构：
[1] Tianjin Univ, Sch Elect & Informat Engn, Tianjin Key Lab Proc Measurement & Control, Tianjin 300072, Peoples R China
来源：
2018 13TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2018年
基金：
中国国家自然科学基金;
关键词：
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：
In this paper, a novel dynamical model for unmanned vehicles is proposed. Based on this model, a linear model predictive controller is then designed in order to implement lateral control of unmanned vehicles. Moreover, an effective longitudinal controller is presented to stabilize the vehicle on the planning speed according to the information of the throttle and brake. It is worth mentioning that the error compensation, which is caused by linearization and discretization of the nonlinear model, is utilized to improve the precision of the novel linear dynamic model. The effectiveness of these two controllers and compensation is verified by simulation results.
引用
收藏
页码：461 / 466
页数：6
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