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Real-time Parameter Updating and Path-following Control for Autonomous Vehicles on Slope Roads

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  • Control Theory and Applications
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Abstract

This paper proposes a path-following controller and a torque allocation strategy for a four-wheel-independent-drive (FWID) electric autonomous ground vehicle (EAGV) on the slope roads. To improve the real-time accuracy of the controller, a model-predictive-control (MPC) controller with a linear-parameter-varying (LPV) model is proposed to maintain the vehicle dynamic stability and follow the given path for the EAGV. By updating the parameters of the states, the proposed controller can minimize the effects of the unequal normal tire forces and the gravity components of the vehicle on the slope road. As a result, the desired trajectory of the lateral position, longitudinal position, yaw angle, and velocity can be tracked by controlling the front-wheel-steering angle and the driving torque of each wheel. Finally, the high-fidelity simulations have been implemented on the CarSim-Matlab platform, and the results show that the proposed LPV-MPC controller with the torque allocation strategy is effective to achieve the control targets.

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Authors and Affiliations

  1. School of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110819, China

    Zhongchao Liang, Yidi Chen & Jing Zhao

  2. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, 110819, China

    Zhongchao Liang & Jing Zhao

Authors
  1. Zhongchao Liang
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  2. Yidi Chen
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  3. Jing Zhao
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Corresponding author

Correspondence to Jing Zhao.

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This work is supported by the National Natural Science Foundation of China (51975109), the Fundamental Research Funds for the Central Universities (N2103018), and the Joint Project of Nature Science Foundation of Liaoning Province of China (2021-KF-11-02).

Zhongchao Liang received his M.S. and Ph.D. degrees in mechanical engineering from Harbin Institute of Technology, China, in 2011 and 2015, respectively. From 2019 to 2020, he was an academic visitor with the Department of Electrical and Electronic Engineering, the University of Manchester, UK. He is currently an Associate Professor with School of Mechanical Engineering and Automation, Northeastern University, China. His research interests include intelligent vehicle and mobile robots.

Yidi Chen received her B.E. degree in mechanical design manufacture and automation from Shenyang University of Technology, China. She is currently pursuing an M.Eng. degree in mechanical engineering and automation, Northeastern University, China. Her research interests include vehicle system dynamics and control, motion control, and path planning of autonomous vehicles.

Jing Zhao got his Ph.D. degree in electromechanical engineering, University of Macau. He is currently working with the School of Mechanical Engineering and Automation, Northeastern University, China. His research interests include vehicle dynamics and control, mechanism and machine theory, fluid mechanics, and finite element analysis.

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Liang, Z., Chen, Y. & Zhao, J. Real-time Parameter Updating and Path-following Control for Autonomous Vehicles on Slope Roads. Int. J. Control Autom. Syst. 20, 2178–2190 (2022). https://doi.org/10.1007/s12555-021-0269-8

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  • DOI: https://doi.org/10.1007/s12555-021-0269-8

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