التفاصيل البيبلوغرافية
| العنوان: |
Trajectory Tracking Control of Autonomous Vehicle With Random Network Delay. |
| المؤلفون: |
Luan, Zhongkai1 m15651639906@163.com, Zhang, Jinning2 jinning.zhang@cranfield.ac.uk, Zhao, Wanzhong1 zhaowanzhong@126.com, Wang, Chunyan1 wcy2000@126.com |
| المصدر: |
IEEE Transactions on Vehicular Technology. Aug2020, Vol. 69 Issue 8, p8140-8150. 11p. |
| مصطلحات موضوعية: |
*ALGORITHMS, AUTONOMOUS vehicles, HARDWARE-in-the-loop simulation, ARTIFICIAL satellite tracking, UNCERTAIN systems, PREDICTION models |
| مستخلص: |
Random network delay will introduce uncertainty into trajectory tracking model of the autonomous vehicle, which seriously deteriorates the vehicle's control system stability and trajectory tracking accuracy. In this paper, considering steering angle oscillation caused by random network delay, trajectory tracking system robustness and stability is analyzed and a linear uncertain time-delay system is established. Comprehensively considering control system accuracy, robustness, and computational efficiency in the rolling optimization of Model Predictive Control (MPC), Adaptive Model Predictive Control for Uncertain model (UM-AMPC) algorithm is proposed to predict control variables for the next sampling time and alleviate the target angle discontinuity. This is achieved by operating target angle signal and augmented state variables, which are received by the lower nodes during the period from the current sampling time to network delay upper bound. The hardware-in-the-loop simulation results show that the proposed algorithm can effectively guarantee system stability and tracking accuracy of the autonomous vehicle under random network delay. [ABSTRACT FROM AUTHOR] |
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| قاعدة البيانات: |
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