کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
4977140 | 1367694 | 2017 | 15 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
A model predictive speed tracking control approach for autonomous ground vehicles
ترجمه فارسی عنوان
یک مدل کنترل پیش بینی سرعت ردیابی برای وسایل نقلیه مستقل زمین
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کلمات کلیدی
ردیابی سرعت، کنترل سرعت، وسایل نقلیه مستقل، کنترل پیش بینی مدل، بهینه سازی زمان واقعی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
پردازش سیگنال
چکیده انگلیسی
This paper presents a novel speed tracking control approach based on a model predictive control (MPC) framework for autonomous ground vehicles. A switching algorithm without calibration is proposed to determine the drive or brake control. Combined with a simple inverse longitudinal vehicle model and adaptive regulation of MPC, this algorithm can make use of the engine brake torque for various driving conditions and avoid high frequency oscillations automatically. A simplified quadratic program (QP) solving algorithm is used to reduce the computational time, and the approach has been applied in a 16-bit microcontroller. The performance of the proposed approach is evaluated via simulations and vehicle tests, which were carried out in a range of speed-profile tracking tasks. With a well-designed system structure, high-precision speed control is achieved. The system can robustly model uncertainty and external disturbances, and yields a faster response with less overshoot than a PI controller.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanical Systems and Signal Processing - Volume 87, Part B, 15 March 2017, Pages 138-152
Journal: Mechanical Systems and Signal Processing - Volume 87, Part B, 15 March 2017, Pages 138-152
نویسندگان
Min Zhu, Huiyan Chen, Guangming Xiong,