Event-triggered model predictive-preview control strategy for trajectory tracking of autonomous vehicle

作者：Jindou Zhang, Yanrong Lu, Zhiwen Wang, Yanpeng Hu, Yu Wu · 发表于：Transactions of the Institute of Measurement and Control · 年份：2024 · DOI：10.1177/01423312241229386 · 被引用次数：8 · 研究领域：Advanced Control Systems Optimization、Vehicle Dynamics and Control Systems、Robotic Path Planning Algorithms

This paper proposes an event-triggered model predictive-preview control strategy for autonomous vehicle trajectory tracking. First, the dynamic equation is established based on the preview road curvature and the vehicle’s 2 degree-of-freedom relationship. A model predictive tracking controller is designed by predicting the system dynamics in the future. Second, to reduce the computational burden of the controller, the triggering conditions are designed according to the system’s stability and feasibility. The proposed event-triggered model predictive-preview control strategy not only makes the autonomous vehicles maintain tracking accuracy but also reduces the number of online optimization. Then, asymptotically stable of closed-loop systems are proved by using Lyapunov’s theorem. Finally, simulation experiments show that the proposed strategy has some advantages over traditional model predictive control in terms of improving vehicle tracking accuracy and reducing algorithm complexity.