Model predictive path tracking control of intelligent vehicle based on dual-stage disturbance observer under multi-channel disturbances

IF 2.7 3区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY

Measurement Science and Technology Pub Date : 2024-07-02 DOI:10.1088/1361-6501/ad5ddc

Lie Guo, Pengyuan Guo, Longxin Guan, Hui Ma

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引用次数: 0

Abstract

Parameter fluctuations, unmodeled dynamics, speed variation, steering actuator faults, and other multi-channel uncertain disturbances are the key challenges faced by the path tracking control of intelligent vehicles, which will affect the accuracy and stability of the path tracking. Therefore, a model predictive control (MPC) method based on a dual-stage disturbance observer (DDOB) is proposed in this paper. First, a tracking error dynamics model considering multi-channel uncertain disturbances is constructed, based on which a model predictive controller is designed to obtain the nominal front wheel steering angle by the Karush-Kuhn-Tucker (KKT) condition. Furthermore, the dual-stage disturbance observer is designed to enable real-time estimation of the system disturbances, and then the estimated disturbances are used as the compensation for the nominal front wheel steering angle, which establishes the MPC control law with parallel compensation of the dual-stage disturbance observer. Finally, the error boundedness of the dual-stage disturbance observer and the global stability of the model predictive controller are analyzed. The effectiveness and superiority of the proposed algorithm are verified through Carsim-Simulink simulation and hardware-in-the-loop (HiL) experiments.

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多通道干扰下基于双级干扰观测器的智能车辆模型预测路径跟踪控制

参数波动、未建模动态、速度变化、转向执行器故障以及其他多通道不确定干扰是智能车辆路径跟踪控制面临的主要挑战，它们将影响路径跟踪的精度和稳定性。因此，本文提出了一种基于双级扰动观测器（DDOB）的模型预测控制（MPC）方法。首先，构建了一个考虑多通道不确定扰动的跟踪误差动力学模型，并在此基础上设计了一个模型预测控制器，以通过 Karush-Kuhn-Tucker (KKT) 条件获得标称前轮转向角。此外，还设计了双级扰动观测器以实现对系统扰动的实时估计，然后将估计的扰动作为标称前轮转向角的补偿，从而建立了与双级扰动观测器并行补偿的 MPC 控制法。最后，分析了双级干扰观测器的误差约束性和模型预测控制器的全局稳定性。通过 Carsim-Simulink 仿真和硬件在环（HiL）实验，验证了所提算法的有效性和优越性。

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

Measurement Science and Technology 工程技术-工程：综合

CiteScore

4.30

自引率

16.70%

发文量

656

审稿时长

4.9 months

期刊介绍： Measurement Science and Technology publishes articles on new measurement techniques and associated instrumentation. Papers that describe experiments must represent an advance in measurement science or measurement technique rather than the application of established experimental technique. Bearing in mind the multidisciplinary nature of the journal, authors must provide an introduction to their work that makes clear the novelty, significance, broader relevance of their work in a measurement context and relevance to the readership of Measurement Science and Technology. All submitted articles should contain consideration of the uncertainty, precision and/or accuracy of the measurements presented. Subject coverage includes the theory, practice and application of measurement in physics, chemistry, engineering and the environmental and life sciences from inception to commercial exploitation. Publications in the journal should emphasize the novelty of reported methods, characterize them and demonstrate their performance using examples or applications.

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