Event-Triggered Model Predictive Control for an Autonomous Vehicle Based on Tight Constraints

• Published in: IEEE International Conference on Industrial Informatics (INDIN) pp. 1 - 6
• Main Authors: Lin, Xiurui, Chen, Hantuo, Qin, Dongdong, Liu, Andong, Ni, Hongjie, Wang, Ye
• Format: Conference Proceeding
• Language: English
• Published: IEEE 18.08.2024
• Subjects: autonomous vehicle; Autonomous vehicles; Closed loop systems; constraint tightening; Event detection; event-triggered strategy; model predictive control; Optimization; Prediction algorithms; Predictive control; Simulation; Stability analysis; Sufficient conditions; Tires; trajectory tracking

This paper develops an event-triggered model pre-dictive control strategy based on tight constraints for the control of autonomous vehicle. First, a discrete-time error model is established for a vehicle according to the magic formula-based tire model and the simplified bicycle model. Then, constrai...