Comparative Study of Trajectory Tracking Control for Automated Vehicles via Model Predictive Control and Robust H-infinity State Feedback Control  

作　　者：Kai Yang Xiaolin Tang Yechen Qin Yanjun Huang Hong Wang Huayan Pu 

机构地区：[1]College of Mechanical and Vehicle Engineering,Chongqing University,Chongqing 400000,China [2]School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100080,China [3]School of Automotive Studies,Tongji University,Shanghai 201804,China [4]School of Vehicle and Mobility,Tsinghua University,Beijing 100080,China

出　　处：《Chinese Journal of Mechanical Engineering》2021年第4期168-181,共14页中国机械工程学报（英文版）

基　　金：Supported by Natural Science Foundation of China(Grant Nos.52072051,51705044);Chongqing Municipal Natural Science Foundation of China(Grant No.cstc2020jcyj-msxmX0956);State Key Laboratory of Mechanical System and Vibration(Grant No.MSV202016);State Key Laboratory of Mechanical Transmissions(Grant No.SKLMT-KFKT-201806).

摘　　要：A comparative study of model predictive control(MPC)schemes and robust Hstate feedback control(RSC)method for trajectory tracking is proposed in this paper.The main objective of this paper is to compare MPC and RSC controllers’performance in tracking predefined trajectory under different scenarios.MPC controller is designed based on the simple longitudinal-yaw-lateral motions of a single-track vehicle with a linear tire,which is an approximation of the more realistic model of a vehicle with double-track motion with a non-linear tire mode.RSC is designed on the basis of the same method as adopted for the MPC controller to achieve a fair comparison.Then,three test cases are built in CarSim-Simulink joint platform.Specifically,the verification test is used to test the tracking accuracy of MPC and RSC controller under well road conditions.Besides,the double lane change test with low road adhesion is designed to find the maximum velocity that both controllers can carry out while guaranteeing stability.Furthermore,an extreme curve test is built where the road adhesion changes suddenly,in order to test the performance of both controllers under extreme conditions.Finally,the advantages and disadvantages of MPC and RSC under different scenarios are also discussed.

关 键 词：Trajectory tracking Automated vehicles Model predictive control Robust H∞state feedback control 

分 类 号：U463.6[机械工程—车辆工程]