Trajectory-following and off-tracking minimisation of long combination vehicles: a comparison between nonlinear and linear model predictive control

In this paper, the authors compared the linear and nonlinear motion prediction models of a long combination vehicle (LCV). They designed a nonlinear model predictive control (NMPC) for trajectory-following and off-tracking minimisation of the LCV. The used prediction model allowed coupled longitudinal and lateral dynamics together with the possibility of a combined steering, propulsion and braking control of those vehicles in long prediction horizons and in all ranges of forward velocity. For LCVs where the vehicle model is highly nonlinear, the authors showed that the control actions calculated by a linear time-varying model predictive control (LTV-MPC) are relatively close to those obtained by the NMPC if the guess linearisation trajectory is sufficiently close to the nonlinear solution, in contrast to linearising for specific operating conditions that limit the generality of the designed function. They discussed how those guess trajectories can be obtained allowing off-line fixed time-varying model linearisation that is beneficial for real-time implementation of MPC in LCVs with long prediction horizons. The long prediction horizons are necessary for motion planning and trajectory-following of LCVs to maintain stability and tracking quality, e.g. by optimally reducing the speed prior to reaching a curve, and by generating control actions within the actuators limits.

• Record URL:
  • https://doi.org/10.1080/00423114.2022.2164513
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/00423114
• Supplemental Notes:
  • © 2023 The Authors. Published by Informa UK Limited, trading as Taylor & Francis Group. Abstract reprinted with permission of Taylor & Francis.
• Authors:
  • Ghandriz, Toheed
  • 0000-0003-3525-9883
  • Jacobson, Bengt
  • 0000-0002-5798-5651
  • Nilsson, Peter
  • Laine, Leo
  • 0000-0002-0672-3985
• Publication Date: 2024-2

Language

• English

Media Info

• Media Type: Digital/other
• Features: Appendices; Figures; References; Tables;
• Pagination: pp 277-310
• Serial:
  • Vehicle System Dynamics
  • Volume: 62
  • Issue Number: 2
  • Publisher: Taylor & Francis
  • ISSN: 0042-3114
  • EISSN: 1744-5159
  • Serial URL: https://www.tandfonline.com/toc/nvsd20/current

Subject/Index Terms

• TRT Terms: Mechanical stability; Motor vehicle dynamics; Nonlinear systems; Optimization; Tractor trailer combinations; Trajectory control
• Identifier Terms: Model Predictive Control
• Subject Areas: Highways; Motor Carriers; Vehicles and Equipment;

Filing Info

• Accession Number: 01905521
• Record Type: Publication
• Files: TRIS
• Created Date: Jan 24 2024 4:55PM