A longitudinal linear quadratic regulation LQR acceleration motion controller and a lateral linear model prediction (LTV-MPC) motion controller are designed to address the accuracy and stability of trajectory tracking with a four-wheel independent drive driverless formula car. Based on the BP neural network algorithm, the prediction step and control step parameters of the model prediction control are adaptively adjusted, and the genetic optimisation algorithm is used to optimise the BP neural network to improve the lateral trajectory tracking accuracy of the car. The simulation results show that the proposed lateral motion control strategy can control the unmanned racing car to track the lateral trajectory well during the trajectory tracking process.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Research on FSAC trajectory tracking control based on optimized BP neural network algorithm


    Contributors:
    Zhang, Zhiqiang (author) / Li, Gang (author) / Chen, Zhixin (author) / Zhang, Xing (author)


    Publication date :

    2023-10-27


    Size :

    5070200 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Electronic braking system of FSAC formula racing car

    LI YUNHUA / AO YINHUI / QIU JIANBIN et al. | European Patent Office | 2024

    Free access

    Multi-target sliding mode trajectory tracking control algorithm based on BP neural network

    DENG LONGZE / XIONG SHUANG / CHEN BO et al. | European Patent Office | 2023

    Free access

    Neural Network-Based Spacecraft Leader-Follower Trajectory Tracking Control

    Zhou, Ning / Zhao, Xuanxuan / Zhu, Kuibao | IEEE | 2022


    Neural Network Robust Control of Ship Trajectory Tracking

    Zhao, H. / Shen, J. / Institute of Electrical and Electronics Engineers | British Library Conference Proceedings | 2014


    Trajectory tracking for vehicle lateral control using neural network

    PENG FARUI / LITKOUHI BAKHTIAR B | European Patent Office | 2020

    Free access