The invention discloses an intelligent vehicle path tracking control method based on a Lyapunov-MPC technology, and belongs to an intelligent vehicle path tracking control method. The invention provides an MPC path tracking controller based on a control Lyapunov function in order to solve the problem that the stability is poor in the existing path tracking process based on a model prediction control algorithm. First, a vehicle dynamics model is established. Then, the current state value of the vehicle is measured, and a tracking error is obtained according to the measured value and the expected path. Afterwards, an LMPC (Linear Moving Picture Controller) is designed on the basis of a Control Lyapunov Function theory; an auxiliary control law is designed by using a backstepping method, and an auxiliary tracking control law is converted into a constraint condition in an MPC optimization process, so that a solution in the optimization process is constrained in a preset attraction domain, and the closed-loop stability of the whole system is theoretically ensured. And finally, a rolling optimization method is utilized to obtain better tracking performance while the stability performance is ensured, and the stability and robustness of intelligent vehicle path tracking under external interference are improved.

    本发明公开了一种基于Lyapunov‑MPC技术的智能车辆路径跟踪控制方法,属于智能车辆路径跟踪控制方法。本发明的目的是为了解决现有基于模型预测控制算法的路径跟踪过程中稳定性差的问题,提出一种基于控制Lyapunov函数的MPC路径跟踪控制器。首先,建立车辆动力学模型。然后,测量车辆当前状态值,根据测量值和期望路径得到跟踪误差。接着,基于CLF(Control Lyapunov Function)理论设计了一种LMPC控制器。通过利用反步法设计辅助控制律,将辅助跟踪控律转化为MPC优化过程中的约束条件,使优化过程中的解约束在预设的吸引域中,从理论上保证了整个系统的闭环稳定性。最后,利用滚动优化方法在保证稳定性能的同时获得较好的跟踪性能,提高了外界干扰下智能车辆路径跟踪的稳定性和鲁棒性。


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    Title :

    Intelligent vehicle path tracking control method based on Lyapunov-MPC technology


    Additional title:

    一种基于Lyapunov-MPC技术的智能车辆路径跟踪控制方法


    Contributors:
    HE YOUGUO (author) / WANG YU (author) / YUAN CHAOCHUN (author) / CAI YINGFENG (author)

    Publication date :

    2021-04-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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