Multi-model adaptive predictive control for path following of autonomous vehicles

The uncertainties in tire cornering stiffness can degrade the path following the performance of autonomous vehicles, especially in low adhesive conditions, to deal with this problem, a novel multi-model adaptive predictive control is proposed in this study. Firstly, a model predictive path following controller is designed based on a combined model of vehicle dynamics and road-related kinematics relationship. Then, to deal with the model uncertainties, the multiple model adaptive theory is introduced, and the recursive least adaptive law is proposed with its convergence proved by Lyapunov theory. Finally, the multiple-model adaptive law is combined with the proposed model predictive control by a convex polytope of tire cornering stiffness. In this way, the proposed algorithm can be adaptive to the uncertainties of tire cornering stiffness. Simulation results show the effectiveness and robustness of the proposed method to the uncertainties of the tire cornering stiffness resulting in an excellent performance in any road condition without introducing conservativeness.

• Record URL:
  http://dx.doi.org/10.1049/iet-its.2020.0357
• Record URL:
  https://digital-library.theiet.org/content/journals/10.1049/iet-its.2020.0357
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/1751956X
• Supplemental Notes:
  • Abstract reprinted with permission of the Institution of Engineering and Technology.
• Authors:
  • Liang, Yixiao
  • Li, Yinong
  • Khajepour, Amir
  • Zheng, Ling
• Publication Date: 2020-12

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 2092-2101
• Serial:
  • IET Intelligent Transport Systems
  • Volume: 14
  • Issue Number: 14
  • Publisher: Institution of Engineering and Technology (IET)
  • ISSN: 1751-956X
  • EISSN: 1751-9578
  • Serial URL: https://ietresearch.onlinelibrary.wiley.com/journal/17519578
• Publication flags:

  Open Access (libre)

Subject/Index Terms

• TRT Terms: Adaptive control; Autonomous vehicles; Mathematical prediction; Predictive models; Stability (Mechanics); Steering; Trajectory control
• Identifier Terms: Lyapunov methods
• Subject Areas: Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01770750
• Record Type: Publication
• Files: TRIS
• Created Date: Apr 28 2021 9:33AM