Active fault-tolerant path tracking control for autonomous vehicles considering actuator fault and model mismatch

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-04-23 DOI:10.1016/j.conengprac.2025.106362

Yuan Chang , Manjiang Hu , Zeyu Yang , Yougang Bian , Zhiyong Lei , Hongmao Qin

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引用次数: 0

Abstract

The steering systems of autonomous vehicles may exhibit inherent deviations, resulting in large steady-state path tracking errors. The offline calibrations of the steering systems for a fleet of vehicles are time-consuming. Additionally, the model mismatches during cornering maneuvers compromise the control performance of model-based path tracking algorithms. To address these issues, an active fault-tolerant controller is proposed in this paper, incorporating the framework of nonlinear moving horizon estimation (NMHE) and nonlinear model predictive control (NMPC). The NMHE is employed to estimate the lumped uncertainties stemming from actuator faults and model mismatches, while the NMPC is used for accurate and smooth tracking of the reference path. The proposed controller is capable of online compensation for the steering deviations with less conservatism, significantly improving the path tracking accuracy, and enhancing the capabilities of handling constraints. Finally, the effectiveness of the controller in fault-tolerance and model mismatch correction is validated through simulation tests and real vehicle experiments.

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考虑执行器故障和模型失配的自动驾驶汽车主动容错路径跟踪控制

自动驾驶车辆的转向系统可能会出现固有偏差，从而导致较大的稳态路径跟踪误差。车队转向系统的离线校准非常耗时。此外，转弯机动过程中的模型不匹配会影响基于模型的路径跟踪算法的控制性能。为了解决这些问题，本文提出了一种基于非线性运动水平估计（NMHE）和非线性模型预测控制（NMPC）的主动容错控制器。NMHE用于估计由执行器故障和模型不匹配引起的集总不确定性，而NMPC用于精确和平滑地跟踪参考路径。该控制器具有较低的保守性对转向偏差进行在线补偿的能力，显著提高了路径跟踪精度，增强了处理约束的能力。最后，通过仿真试验和实车实验验证了该控制器在容错和模型错配校正方面的有效性。

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

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.