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1 April 2024 Research on steady state drift control of unmanned vehicle based on model predictive control
Huanqin Feng, Hui Jing, Bing Kuang, Chongqin Zhao
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Proceedings Volume 13082, Fourth International Conference on Mechanical Engineering, Intelligent Manufacturing, and Automation Technology (MEMAT 2023); 1308239 (2024) https://doi.org/10.1117/12.3026280
Event: 2023 4th International Conference on Mechanical Engineering, Intelligent Manufacturing and Automation Technology (MEMAT 2023), 2023, Guilin, China
Abstract
Traditional unmanned vehicles are generally limited to work under ordinary conditions, however the control strategy under extreme conditions still needs to be studied. This paper proposes a drift controller based on Model Predictive Control (MPC). Firstly, the saturation characteristics of the tire in the drift state are analyzed. On this basis, the drift steering mechanism of the vehicle model is analyzed, and the drift equilibrium point is obtained. Then the vehicle dynamics model is linearized at the equilibrium point, and the MPC drift controller is designed to realize the steady-state drift control of the vehicle. Finally, the effectiveness of the steady-state drift controller is verified by simulation.
(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.
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Huanqin Feng, Hui Jing, Bing Kuang, and Chongqin Zhao "Research on steady state drift control of unmanned vehicle based on model predictive control", Proc. SPIE 13082, Fourth International Conference on Mechanical Engineering, Intelligent Manufacturing, and Automation Technology (MEMAT 2023), 1308239 (1 April 2024); https://doi.org/10.1117/12.3026280
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KEYWORDS
Unmanned vehicles
Autonomous vehicles
Device simulation
Vehicle control
Autonomous driving
Control systems
Design
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