Adaptive event based predictive lateral following control for unmanned ground vehicle system
Hao Zhang, Hongming Zhang, Zhuping Wang, Chao Huang, Yan Li
Abstract
Abstract In this article, the lateral path following problem of unmanned ground vehicle with bounded disturbances is studied. A dual‐mode model predictive control (MPC) algorithm based on adaptive event triggered mechanism is proposed. Compared with the existing MPC algorithm, adaptive event triggered model predictive control (AEMPC) can ensure the tracking accuracy and reduce the optimization computation. Feasibility and stability of AEMPC algorithm are guaranteed by constraint region parameter design. Finally, simulation results of the vehicle dynamics model are given, and the comparisons are made.
Topics & Concepts
Model predictive controlControl theory (sociology)Constraint (computer-aided design)Computer scienceComputationStability (learning theory)Path (computing)Bounded functionTracking (education)Event (particle physics)Dual (grammatical number)Control engineeringControl (management)EngineeringAlgorithmMathematicsArtificial intelligenceMechanical engineeringMachine learningPhysicsPedagogyMathematical analysisProgramming languageLiteratureQuantum mechanicsPsychologyArtAdaptive Control of Nonlinear SystemsVehicle Dynamics and Control SystemsControl and Dynamics of Mobile Robots