Trajectory-Tracking Control of Unmanned Vehicles Based on Adaptive Variable Parameter MPC Article Swipe
Wenjue Chen
,
Fuchao Liu
,
Hailin Zhao
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.3390/app14167285
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.3390/app14167285
Aiming at the problems of the poor trajectory-tracking performance and low control accuracy of unmanned vehicles under complex working conditions, we first estimate the lateral force of tires using the square root cubature Kalman filter (SRCKF) in order to correct the lateral stiffness of the tires online, which reduces the model bias caused by constant lateral stiffness, and then adopt a Gaussian function-based adaptive time-domain model predictive control method to improve the trajectory-tracking control accuracy of unmanned vehicles under complex working conditions. Finally, the proposed control algorithm is validated via Carsim and MATLAB/Simulink joint simulation. The results show that compared with the classical model predictive control (MPC) algorithm, the proposed control algorithm reduces the average lateral tracking error by 73.07% and the peak beta and the peak yaw rate by 50.89% and 47.51%, respectively, so that the unmanned vehicle is able to maintain good tracking performance and control accuracy.
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- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/app14167285
- OA Status
- gold
- Cited By
- 3
- References
- 17
- Related Works
- 10
- OpenAlex ID
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All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4401700912Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/app14167285Digital Object Identifier
- Title
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Trajectory-Tracking Control of Unmanned Vehicles Based on Adaptive Variable Parameter MPCWork title
- Type
-
articleOpenAlex work type
- Language
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enPrimary language
- Publication year
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2024Year of publication
- Publication date
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2024-08-19Full publication date if available
- Authors
-
Wenjue Chen, Fuchao Liu, Hailin ZhaoList of authors in order
- Landing page
-
https://doi.org/10.3390/app14167285Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://doi.org/10.3390/app14167285Direct OA link when available
- Concepts
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Control theory (sociology), CarSim, Model predictive control, Trajectory, Computer science, MATLAB, Tracking (education), Kalman filter, Control (management), Artificial intelligence, Physics, Operating system, Psychology, Pedagogy, AstronomyTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
3Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 2, 2024: 1Per-year citation counts (last 5 years)
- References (count)
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17Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.and | 9, 57, 91, 120, 124, 131, 146 |
| abstract_inverted_index.low | 10 |
| abstract_inverted_index.the | 2, 5, 23, 29, 40, 44, 49, 71, 83, 101, 108, 113, 121, 125, 136 |
| abstract_inverted_index.via | 89 |
| abstract_inverted_index.yaw | 127 |
| abstract_inverted_index.able | 140 |
| abstract_inverted_index.beta | 123 |
| abstract_inverted_index.bias | 51 |
| abstract_inverted_index.good | 143 |
| abstract_inverted_index.peak | 122, 126 |
| abstract_inverted_index.poor | 6 |
| abstract_inverted_index.rate | 128 |
| abstract_inverted_index.root | 31 |
| abstract_inverted_index.show | 97 |
| abstract_inverted_index.that | 98, 135 |
| abstract_inverted_index.then | 58 |
| abstract_inverted_index.with | 100 |
| abstract_inverted_index.(MPC) | 106 |
| abstract_inverted_index.adopt | 59 |
| abstract_inverted_index.error | 117 |
| abstract_inverted_index.first | 21 |
| abstract_inverted_index.force | 25 |
| abstract_inverted_index.joint | 93 |
| abstract_inverted_index.model | 50, 65, 103 |
| abstract_inverted_index.order | 37 |
| abstract_inverted_index.tires | 27, 45 |
| abstract_inverted_index.under | 16, 78 |
| abstract_inverted_index.using | 28 |
| abstract_inverted_index.which | 47 |
| abstract_inverted_index.50.89% | 130 |
| abstract_inverted_index.73.07% | 119 |
| abstract_inverted_index.Aiming | 0 |
| abstract_inverted_index.Carsim | 90 |
| abstract_inverted_index.Kalman | 33 |
| abstract_inverted_index.caused | 52 |
| abstract_inverted_index.filter | 34 |
| abstract_inverted_index.method | 68 |
| abstract_inverted_index.square | 30 |
| abstract_inverted_index.(SRCKF) | 35 |
| abstract_inverted_index.47.51%, | 132 |
| abstract_inverted_index.average | 114 |
| abstract_inverted_index.complex | 17, 79 |
| abstract_inverted_index.control | 11, 67, 73, 85, 105, 110, 147 |
| abstract_inverted_index.correct | 39 |
| abstract_inverted_index.improve | 70 |
| abstract_inverted_index.lateral | 24, 41, 55, 115 |
| abstract_inverted_index.online, | 46 |
| abstract_inverted_index.reduces | 48, 112 |
| abstract_inverted_index.results | 96 |
| abstract_inverted_index.vehicle | 138 |
| abstract_inverted_index.working | 18, 80 |
| abstract_inverted_index.Finally, | 82 |
| abstract_inverted_index.Gaussian | 61 |
| abstract_inverted_index.accuracy | 12, 74 |
| abstract_inverted_index.adaptive | 63 |
| abstract_inverted_index.compared | 99 |
| abstract_inverted_index.constant | 54 |
| abstract_inverted_index.cubature | 32 |
| abstract_inverted_index.estimate | 22 |
| abstract_inverted_index.maintain | 142 |
| abstract_inverted_index.problems | 3 |
| abstract_inverted_index.proposed | 84, 109 |
| abstract_inverted_index.tracking | 116, 144 |
| abstract_inverted_index.unmanned | 14, 76, 137 |
| abstract_inverted_index.vehicles | 15, 77 |
| abstract_inverted_index.accuracy. | 148 |
| abstract_inverted_index.algorithm | 86, 111 |
| abstract_inverted_index.classical | 102 |
| abstract_inverted_index.stiffness | 42 |
| abstract_inverted_index.validated | 88 |
| abstract_inverted_index.algorithm, | 107 |
| abstract_inverted_index.predictive | 66, 104 |
| abstract_inverted_index.stiffness, | 56 |
| abstract_inverted_index.conditions, | 19 |
| abstract_inverted_index.conditions. | 81 |
| abstract_inverted_index.performance | 8, 145 |
| abstract_inverted_index.simulation. | 94 |
| abstract_inverted_index.time-domain | 64 |
| abstract_inverted_index.respectively, | 133 |
| abstract_inverted_index.function-based | 62 |
| abstract_inverted_index.MATLAB/Simulink | 92 |
| abstract_inverted_index.trajectory-tracking | 7, 72 |
| cited_by_percentile_year.max | 97 |
| cited_by_percentile_year.min | 90 |
| countries_distinct_count | 1 |
| institutions_distinct_count | 3 |
| sustainable_development_goals[0].id | https://metadata.un.org/sdg/1 |
| sustainable_development_goals[0].score | 0.6000000238418579 |
| sustainable_development_goals[0].display_name | No poverty |
| citation_normalized_percentile.value | 0.72590271 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |