Multi‐model adaptive predictive control for path following of autonomous vehicles. Issue 14 (19th February 2021)

• Record Type: Journal Article
• Authors: Liang, Yixiao; Li, Yinong; Khajepour, Amir; Zheng, Ling
• Is Part Of: IET intelligent transport systems. Volume 14:Issue 14(2020)
• Page Start: 2092
• Page End: 2101
• Publication Date: 2021-02-19
• Subjects: road vehicles -- nonlinear control systems -- stability -- adhesion -- vehicle dynamics -- adaptive control -- predictive control -- time‐varying systems -- tyres -- Lyapunov methods -- robust control; autonomous vehicles -- tire cornering stiffness -- low adhesive conditions -- novel multimodel adaptive predictive control -- model predictive path -- vehicle dynamics -- road‐related kinematics relationship -- model uncertainties -- multiple model adaptive theory -- recursive least adaptive law -- multiple‐model adaptive law -- model predictive control; Intelligent transportation systems -- Periodicals; Electronics in transportation -- Periodicals; 388.31205
• DOI: 10.1049/iet-its.2020.0357
• Languages: English
• ISSNs: 1751-956X

Abstract

Abstract : 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.