Trajectory Tracking Control for Four-Wheel Independent Drive Intelligent Vehicle Based on Model Predictive Control
Haidong Wu, Zhen-li Si, Zihan Li
Abstract
For four-wheel independent drive intelligent vehicle, the Model Predictive Control (MPC) is adopted to design the trajectory tracking controller through active steering and four-wheel independent drive/brake. The control objective is to follow a desired trajectory while taking into account the control actuator constraints and vehicle dynamic stability constraints. To reduce the computational complexity, a linear time-varying model predictive controller is designed to linearize the nonlinear vehicle model locally at each sampling point. The co-simulation of CarSim/Simulink shows that the designed controller has high tracking accuracy on the basis of ensuring vehicle stability and strong robustness to vehicle velocity and road adhesion coefficient. The trajectory tracking accuracy based on MPC is better than that of the preview driver model (PDM).