Journal
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
Volume 69, Issue 6, Pages 6053-6066Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2020.2981619
Keywords
Vehicle dynamics; Uncertainty; Tires; Wheels; Mathematical model; Real-time systems; Predictive models; Autonomous independent-drive vehicles; path tracking control; direct yaw moment control; linear parameter varying model; robust model predictive control; finite time horizon
Categories
Funding
- National Natural Science Foundation of China [51575043, U1564210, U1764257]
- CSC (China Scholarship Council)
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It is a striking fact that the characteristics of parametric uncertainties, external disturbance, time-varying and nonlinearities are available in the constructed model of autonomous independent-drive vehicles; therefore, in this paper, the robust model predictive control (MPC) with the finite time horizon is proposed to realize the coordinated path tracking and direct yaw moment control (DYC) for autonomous four in-wheel motor independent-drive electric vehicles (AMIDEV). Firstly, considering the time-varying and uncertain feature of the tire cornering stiffness and the vehicle velocity in the state space equation constructed by 2 degrees of freedom (DoF) vehicle model and the path tracking preview model, the linear parameter varying (LPV) discrete model with four polytypic vertexes is constructed. Then, based on the linear matrix inequality (LMI) method, the novel robust MPC theory with the finite time horizon is put forward to solve the min-max optimization problem after updating four polytypic vertexes in real time, which could deal with the inevitable model mismatch problem caused by the time-varying, uncertain vehicle dynamic characteristics and external disturbance. Finally, the simulation and experimental results have verified that the proposed novel robust MPC theory could emerge from the stranglehold exercised by the conservativeness of the traditional robust MPC theory with the infinite time horizon, which strengthens the robustness of this control system as well as achieves better path tracking accuracy and handling ability of AMIDEV.
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