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Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect

We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems. Single-track mode, based on a lin...

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Main Authors: Yakub, F., Abu, A., Sarip, S., Mori, Y.
Format: Article
Language:English
Published: Hindawi Limited 2016
Subjects:
T Technology (General)
Online Access:http://eprints.utm.my/id/eprint/74552/1/AminudinAbu2016_StudyofModelPredictiveControlforPathFollowing.pdf
http://eprints.utm.my/id/eprint/74552/
https://www.scopus.com/inward/record.uri?eid=2-s2.0-84971246054&doi=10.1155%2f2016%2f6752671&partnerID=40&md5=ab6effbceab550a71091df7d8fc6fa61
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spelling my.utm.745522017-11-29T23:58:44Z http://eprints.utm.my/id/eprint/74552/ Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect Yakub, F. Abu, A. Sarip, S. Mori, Y. T Technology (General) We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems. Single-track mode, based on a linearized vehicle and tire model, is used. Based on a given trajectory, we drove the vehicle at low and high forward speeds and on low and high road friction surfaces for a double-lane change scenario in order to follow the desired trajectory as close as possible while rejecting the effects of wind gusts. We compared the controller based on both simple and complex bicycle models without and with the roll vehicle dynamics for different types of model predictive control manoeuvres. The simulation result showed that the model predictive control gave a better performance in terms of robustness for both forward speeds and road surface variation in autonomous path-following control. It also demonstrated that model predictive control is useful to maintain vehicle stability along the desired path and has an ability to eliminate the crosswind effect. Hindawi Limited 2016 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/74552/1/AminudinAbu2016_StudyofModelPredictiveControlforPathFollowing.pdf Yakub, F. and Abu, A. and Sarip, S. and Mori, Y. (2016) Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect. Journal of Control Science and Engineering, 2016 . ISSN 1687-5249 https://www.scopus.com/inward/record.uri?eid=2-s2.0-84971246054&doi=10.1155%2f2016%2f6752671&partnerID=40&md5=ab6effbceab550a71091df7d8fc6fa61
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic T Technology (General)
spellingShingle T Technology (General)
Yakub, F.
Abu, A.
Sarip, S.
Mori, Y.
Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect
description We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems. Single-track mode, based on a linearized vehicle and tire model, is used. Based on a given trajectory, we drove the vehicle at low and high forward speeds and on low and high road friction surfaces for a double-lane change scenario in order to follow the desired trajectory as close as possible while rejecting the effects of wind gusts. We compared the controller based on both simple and complex bicycle models without and with the roll vehicle dynamics for different types of model predictive control manoeuvres. The simulation result showed that the model predictive control gave a better performance in terms of robustness for both forward speeds and road surface variation in autonomous path-following control. It also demonstrated that model predictive control is useful to maintain vehicle stability along the desired path and has an ability to eliminate the crosswind effect.
format Article
author Yakub, F.
Abu, A.
Sarip, S.
Mori, Y.
author_facet Yakub, F.
Abu, A.
Sarip, S.
Mori, Y.
author_sort Yakub, F.
title Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect
title_short Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect
title_full Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect
title_fullStr Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect
title_full_unstemmed Study of model predictive control for path-following autonomous ground vehicle control under crosswind effect
title_sort study of model predictive control for path-following autonomous ground vehicle control under crosswind effect
publisher Hindawi Limited
publishDate 2016
url http://eprints.utm.my/id/eprint/74552/1/AminudinAbu2016_StudyofModelPredictiveControlforPathFollowing.pdf
http://eprints.utm.my/id/eprint/74552/
https://www.scopus.com/inward/record.uri?eid=2-s2.0-84971246054&doi=10.1155%2f2016%2f6752671&partnerID=40&md5=ab6effbceab550a71091df7d8fc6fa61
_version_ 1643656878570340352
score 13.211869

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