The uncertainties in tire cornering stiffness can degrade the path following the performance of autonomous vehicles, especially in low adhesive conditions, to deal with this problem, a novel multi-model adaptive predictive control is proposed in this study. Firstly, a model predictive path following controller is designed based on a combined model of vehicle dynamics and road-related kinematics relationship. Then, to deal with the model uncertainties, the multiple model adaptive theory is introduced, and the recursive least adaptive law is proposed with its convergence proved by Lyapunov theory. Finally, the multiple-model adaptive law is combined with the proposed model predictive control by a convex polytope of tire cornering stiffness. In this way, the proposed algorithm can be adaptive to the uncertainties of tire cornering stiffness. Simulation results show the effectiveness and robustness of the proposed method to the uncertainties of the tire cornering stiffness resulting in an excellent performance in any road condition without introducing conservativeness.
Multi-model adaptive predictive control for path following of autonomous vehicles
IET Intelligent Transport Systems ; 14 , 14 ; 2092-2101
2021-02-19
10 pages
Article (Journal)
Electronic Resource
English
stability , vehicle dynamics , time-varying systems , road vehicles , low adhesive conditions , multiple model adaptive theory , recursive least adaptive law , Lyapunov methods , multiple-model adaptive law , novel multimodel adaptive predictive control , model uncertainties , autonomous vehicles , model predictive control , adhesion , road-related kinematics relationship , predictive control , model predictive path , tire cornering stiffness , nonlinear control systems , tyres , adaptive control , robust control
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