☆ 3.8 Proceedings Paper

Path Tracking Control of Car-like Wheeled Mobile Robot on the Slope based on Nonlinear Model Predictive Control

2022 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2022) (2022)

Coordinated control of path tracking and energy optimization for in-wheel motor drive electric buses with velocity estimation

Jinyong Shangguan et al.

Summary: This paper proposes a hierarchical control framework for in-wheel motor drive electric buses based on nonlinear model predictive control (NMPC). A modular nonlinear observer is designed to achieve accurate velocity estimation. The framework integrates path tracking and energy optimization through coordinated control.

EUROPEAN JOURNAL OF CONTROL (2022)

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Article Automation & Control Systems

Adaptive Trajectory Tracking for Car-Like Vehicles With Input Constraints

Juqi Hu et al.

Summary: This article proposes an adaptive trajectory tracking control scheme for low-speed car-like vehicles that requires less tuning of control gains. The scheme integrates adaptive control gains with consideration of steering saturation to enhance trajectory tracking while ensuring input constraints. The effectiveness of the scheme is verified through MATLAB/Simulink simulations and experiments on Quanser's latest self-driving car, demonstrating accurate tracking without violating input constraints.

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2022)

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Article Computer Science, Information Systems

Optimal car-following control for intelligent vehicles using online road-slope approximation method

Hongqing Chu et al.

Summary: This study proposes a hierarchical design of optimal car-following control system, which splits the system into high-level and low-level subsystems to address issues such as preceding vehicle acceleration disturbance and road slope. The performance of the proposed optimal control scheme is evaluated through simulation and real-vehicle experiments, showing superior car-following performance compared to a factory-installed adaptive cruise controller.

SCIENCE CHINA-INFORMATION SCIENCES (2021)

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Article Engineering, Electrical & Electronic