Model predictive longitudinal control for autonomous electric vehicles with tracking differentiator

IF 4.6 4区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS International Journal of Systems Science Pub Date : 2021-03-02 DOI:10.1080/00207721.2021.1892236

Yijing Wang, Shizhuo Cao, Hongjiu Yang, Z. Zuo, Li Wang, Xiaoyuan Luo

引用次数: 6

Abstract

ABSTRACT In this paper, the longitudinal control is investigated for an autonomous electric vehicle with a tracking differentiator. The autonomous electric vehicle is modelled as a longitudinal system for model predictive control. The tracking differentiator is proposed to obtain the transition profile and acceleration information. A dual-mode model predictive controller is designed for the longitudinal system to find the optimal control input, which is restricted with some constraints on the desired acceleration and its increment. Both iterative feasibility and its stability issues are analysed for the longitudinal system under the dual-mode model predictive controller. Experimental results are given to show the effectiveness of the proposed strategy.

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带有跟踪微分器的自动驾驶电动汽车模型预测纵向控制

本文研究了带跟踪微分器的自动驾驶电动汽车的纵向控制问题。将自动驾驶电动汽车建模为纵向系统，进行模型预测控制。提出了跟踪微分器来获取过渡轮廓和加速度信息。设计了纵向系统的双模模型预测控制器，以寻找最优控制输入，该控制输入受期望加速度及其增量的约束。分析了双模模型预测控制器下纵向系统的迭代可行性及其稳定性问题。实验结果表明了该策略的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Systems Science 工程技术-计算机：理论方法

CiteScore

8.00

自引率

9.30%

发文量

164

审稿时长

7.7 months

期刊介绍： International Journal of Systems Science (IJSS) is a world leading journal dedicated to publishing high quality, rigorously reviewed, original papers that contribute to the methodology and practice in emerging systems engineering themes of intelligence, autonomy and complexity. Modern systems are becoming more and more complex and sophisticated in their demand for performance, reliability and increasing autonomy. Historically, highly analytic and numeric-based methods have sufficed, frequently simplifying the problem to allow analytical tractability. Many manufactured and natural systems (biological, ecological and socio-economic) cannot be adequately represented or analyzed without requiring multiple interacting and interconnected frameworks and a common information-processing framework. A wide range of new theories, methodologies and techniques are required to ‘enable’ such systems, and thus engineering and integration to deal with these demands. IJSS therefore encourages original submissions in these areas, with special focus on papers that are strongly novel as well as not being overly applied. Proposals for special issues in cutting-edge areas of systems science are encouraged, and should be discussed with the Editor-in-Chief. Papers that cover those topics related to operations management and logistics will not be accepted for publication in IJSS. Instead they should be submitted directly to sister journal International Journal of Systems Science: Operations & Logistics. Queries regarding submissions can be made by contacting the Editor-in-Chief, whose decision is final.