Event-triggered predictive path following control for unmanned autonomous vehicle

Abstract: This paper studies the path following problem of nonlinear unmanned vehicle models with bounded disturbances, and proposes an event-triggered model predictive control algorithm. Compared with the existing model predictive control algorithm based on time period, the proposed algorithm can guarantee the accuracy of following the reference trajectory of the vehicle and reduce the computational complexity of solving optimization problems in the following process, then it can reduce the computational burden of on-line real-time optimization. Finally, the simulation results of the unmanned vehicle kinematics model are given. Through the comparision with the traditional algorithm, the effectiveness of the proposed algorithm is verified.

[1]  Jean-Jacques E. Slotine,et al.  Improving the Efficiency of Time-Optimal Path-Following Algorithms , 1988, 1988 American Control Conference.

[2]  L. Nielsen,et al.  Torque limited path following by on-line trajectory time scaling , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[3]  Lars Nielsen,et al.  Torque-limited path following by online trajectory time scaling , 1990, IEEE Trans. Robotics Autom..

[4]  Hong Guan,et al.  Modelling of Driver/Vehicle Directional Control System , 1993 .

[5]  F. Allgöwer,et al.  A quasi-infinite horizon nonlinear model predictive control scheme with guaranteed stability , 1997 .

[6]  Paulo Tabuada,et al.  Event-Triggered Real-Time Scheduling of Stabilizing Control Tasks , 2007, IEEE Transactions on Automatic Control.

[7]  C. I. Chatzikomis,et al.  A path-following driver model with longitudinal and lateral control of vehicle’s motion , 2009 .

[8]  Kyongsu Yi,et al.  An investigation on the integrated human driver model for closed-loop simulation of intelligent safety systems , 2010 .

[9]  Karl Henrik Johansson,et al.  Event-triggered model predictive control of discrete-time linear systems subject to disturbances , 2013, 2013 European Control Conference (ECC).

[10]  Huiping Li,et al.  Event-triggered robust model predictive control of continuous-time nonlinear systems , 2014, Autom..

[11]  Zhang Ku.  Intelligent vehicle's path tracking control based on self-adaptive RBF network compensation , 2014 .

[12]  陈虹,et al.  MPC-Based Regional Path Tracking Controller Design forAutonomous Ground Vehicles , 2015 .

[13]  Zhenping Sun,et al.  MPC-Based Regional Path Tracking Controller Design for Autonomous Ground Vehicles , 2015, 2015 IEEE International Conference on Systems, Man, and Cybernetics.

[14]  刘凯,et al.  Multi-constrained model predictive control for autonomous ground vehicle trajectory tracking , 2015 .

[15]  Fabien Moutarde,et al.  Motion planning for urban autonomous driving using Bézier curves and MPC , 2016, 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC).

[16]  Rolf Findeisen,et al.  Nonlinear Model Predictive Control for Constrained Output Path Following , 2015, IEEE Transactions on Automatic Control.

[17]  Qijun Chen,et al.  Obstacle avoidance of autonomous vehicles with CQP-based model predictive control , 2016, 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC).

[18]  Xie Lihua,et al.  Event-triggered distributed MPC for continuous-time nonlinear systems , 2017, 2017 36th Chinese Control Conference (CCC).

[19]  Z. Wen-an,et al.  Distributed Tracking Method for Maneuvering Targets with Event-triggered Mechanism , 2017 .

[20]  Yuanqing Xia,et al.  Event-Based Model Predictive Tracking Control of Nonholonomic Systems With Coupled Input Constraint and Bounded Disturbances , 2018, IEEE Transactions on Automatic Control.

[21]  Shixi Wen,et al.  Event-triggered cooperative control of vehicle platoons in vehicular ad hoc networks , 2018, Inf. Sci..

[22]  Chao Shen,et al.  Path-Following Control of an AUV: A Multiobjective Model Predictive Control Approach , 2019, IEEE Transactions on Control Systems Technology.