Adaptive event based predictive lateral following control for unmanned ground vehicle system

In this article, the lateral path following problem of unmanned ground vehicle with bounded disturbances is studied. A dual-mode model predictive control (MPC) algorithm based on adaptive event triggered mechanism is proposed. Compared with the existing MPC algorithm, adaptive event triggered model predictive control (AEMPC) can ensure the tracking accuracy and reduce the optimization computation. Feasibility and stability of AEMPC algorithm are guaranteed by constraint region parameter design. Finally, simulation results of the vehicle dynamics model are given, and the comparisons are made.

Automated summary

This article presents a dual-mode model predictive control algorithm based on an adaptive event triggered mechanism for the lateral path following problem of unmanned ground vehicles with bounded disturbances. The proposed algorithm ensures tracking accuracy and reduces optimization computation compared to existing MPC algorithms. Feasibility and stability are guaranteed through constraint region parameter design. Simulation results of the vehicle dynamics model are provided and comparisons are made.