In order to increase the real-time performance of lateral trajectory tracking of unmanned vehicles, this paper designs an event-triggered nonlinear model predictive controller, which can save computation resource to a large extent while the tracking accuracy is still guaranteed. Firstly, a simplified vehicle is established using a two-degree-of-freedom dynamics model. Then, according to the theory of model predictive control, a nonlinear model predictive controller (NMPC) is designed. Since traditional NMPCs often have poor real-time control performance, this paper introduces an event-triggered mechanism, which allows the remaining elements of the control variables in the control horizon to be applied to the system once a specific condition is satisfied. Finally, the proposed controller is established by Matlab/Simulink, and the different trigger conditions are compared and verified in a double lane change maneuvers Then a system for evaluation is designed to quantify the performance of the controller in different trigger conditions. For further verification of the proposed controller, a Hard-in-the-loop simulation system based on Xpack package is established to conduct an HIL experiment. The results show that compared with traditional nonlinear model predictive control, our method offers greatly improved real-time performance while the tracking accuracy is guaranteed.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Event-triggered nonlinear model predictive control for trajectory tracking of unmanned vehicles


    Beteiligte:
    Zou, Kai (Autor:in) / Cai, Yingfeng (Autor:in) / Chen, Long (Autor:in) / Sun, Xiaoqiang (Autor:in)


    Erscheinungsdatum :

    2023-09-01


    Format / Umfang :

    10 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Nonlinear Model Predictive Control Applied to Trajectory Tracking for Unmanned Aerial Vehicles (AIAA 2015-2857)

    Subbarao, Kamesh / Tule, Carlos / Ru, Pengkai | British Library Conference Proceedings | 2015


    Research on the Model Predictive Trajectory Tracking Control of Unmanned Ground Tracked Vehicles

    Shuai Wang / Jianbo Guo / Yiwei Mao et al. | DOAJ | 2023

    Freier Zugriff

    Vision-based Model Predictive Control for Unmanned Aerial Vehicles Automatic Trajectory Generation and Tracking

    Razzanelli, Matteo / Innocenti, Mario / Pannocchia, Gabriele et al. | AIAA | 2019


    Trajectory Tracking Control for Micro Unmanned Aerial Vehicles

    Zhai, Rui Yong ;Zhang, Wen Dong ;Zhou, Zhao Ying | Trans Tech Publications | 2013