Adaptive Model Predictive Control-Based Path Following Control for Four-Wheel Independent Drive Automated Vehicles

• Published in: IEEE transactions on intelligent transportation systems Vol. 23; no. 9; pp. 14399 - 14412
• Main Authors: Wang, Weida, Zhang, Yuhang, Yang, Chao, Qie, Tianqi, Ma, Mingyue
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.09.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptation models; Adaptive control; Algorithms; Automated vehicles; Automation; Control methods; Cornering; Deviation; four-wheel independent drive; Linear quadratic regulator; model predictive control; Parameter uncertainty; path following; Predictive control; Real time; Stiffness; Tires; Trajectory planning; Uncertain systems; Uncertainty; uncertainty estimation; Vehicle dynamics; Vehicle safety; Vehicles; Wheels; Yaw; Yawing moments

Due to inevitable parameter uncertainties and disturbances, four-wheel independent drive automated vehicles (4WIDAVs) will produce tracking deviation during the path following process, which have a negative impact on driving safety. Meanwhile, the over-actuated feature of 4WIDAVs will also increase...