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1 results on '"AUTONOMOUS vehicles"'

1. Adaptive event based predictive lateral following control for unmanned ground vehicle system.

Author

Zhang, Hao, Zhang, Hongming, Wang, Zhuping, Huang, Chao, and Li, Yan

Subjects
*AUTONOMOUS vehicles, *REMOTELY piloted vehicles, *PREDICTION models, *VEHICLE models, *ADAPTIVE control systems
Abstract

In this article, the lateral path following problem of unmanned ground vehicle with bounded disturbances is studied. A dual‐mode model predictive control (MPC) algorithm based on adaptive event triggered mechanism is proposed. Compared with the existing MPC algorithm, adaptive event triggered model predictive control (AEMPC) can ensure the tracking accuracy and reduce the optimization computation. Feasibility and stability of AEMPC algorithm are guaranteed by constraint region parameter design. Finally, simulation results of the vehicle dynamics model are given, and the comparisons are made. [ABSTRACT FROM AUTHOR]

Published
2021
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