Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Computer Engineering》 2019-06
Add to Favorite Get Latest Update

Path Tracking Method of Unmanned Vehicle Based on MFAPC

DUAN Jianmin;MA Xuezheng;LIU Xin;Information Faculty,Beijing University of Technology;  
In order to improve the tracking precision of the unmanned vehicle steering system to the target path,this paper proposes a new unmanned vehicle path tracking method.It introduces the lateral control scheme of unmanned vehicle based on tracking preview point,and gives the dynamic linearized data model of the system and its multi-step prediction equation.The estimation and prediction model of pseudo-gradient vectors is derived by using the method of least squares.Adopting the advantages of model-free adaptive predictive control,it can perform repeated online calculations through rolling optimization strategies,so as to obtain better dynamic performance.Based on the CarSim/Simulink co-simulation platform,the method is verified when the vehicle speed is 5 m/s and 20 m/s.Results show that compared with the MPC scheme based on vehicle dynamics,this proposed method has better tracking performance.
【Fund】: 北京市属高等学校人才强教计划项目(038000543117004)
【CateGory Index】: TP273;U463.6
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
Chinese Journal Full-text Database 3 Hits
1 HOU Zhong-Sheng;DONG Hang-Rui;JIN Shang-Tai;Advanced Control Systems Laboratory,School of Electronic and Information Engineering,Beijing Jiaotong University;;Model-free Adaptive Control with Coordinates Compensation for Automatic Car Parking Systems[J];自动化学报;2015-04
2 HOU Zhongsheng;Advanced Control Systems Lab,Beijing Jiaotong University;;HIGHLIGHT AND PERSPECTIVE ON MODEL FREE ADAPTIVE CONTROL[J];系统科学与数学;2014-10
3 CHEN Hong 1, 2 GONG Xun 2 HU Yun-Feng 2 LIU Qi-Fang 2 GAO Bing-Zhao 2 GUO Hong-Yan 2 1. State Key Laboratory of Automotive Simulation and Control, Changchun 130025 2. Department of Control Science and Engineering, Jilin University, Changchun 130025;Automotive Control: the State of the Art and Perspective[J];自动化学报;2013-04
Chinese Journal Full-text Database 10 Hits
1 SONG Xiu-lan;YU Li;College of Information Engineering,Zhejiang University of Technology;;Receding Optimization Control for a Class of Constrained Linear Switched Systems[J];上海交通大学学报;2015-11
2 Men Yaling;;Design of engineering machinery driving anti slip control system based on fuzzy algorithm[J];自动化与仪器仪表;2015-11
3 WAN Guoqiang;LI Keqiang;LUO Yugong;HUANG Ying;State Key Laboratory of Automotive Safety and Energy, Tsinghua University;Laboratory for Vehicle Integrated Power System Technology, Beijing Institute of Technology;;Power-on Downshift Control for Clutch-to-clutch Automatic Transmission[J];机械工程学报;2015-22
4 LI Xiujian;XU Huigang;XIE Qi;School of Information and Electrical Engineering,China University of Mining and Technology;School of Electrical and Automation Engineering,Changshu Institute of Technology;;Automatic Test System of ECU Based on Virtual Instrument Technology[J];机床与液压;2015-21
5 LIU Zhi-ping;XUE Jin-qiang;College of Computer Science and Engineering, Xian Technological University;;Research of the cruise control for unmanned ground vehicle[J];电子设计工程;2015-21
6 SUN Shuang-shuang;Tianjin Transportation Vocational College;;Current Situation and Prospect of Research on Automotive Control[J];天津职业院校联合学报;2015-10
7 Zhang Duo;Liu Guohai;Zhao Wenxiang;Miao Penghu;Ye Hao;Jiangsu University;;Overview of Multi-motor Independent Drive of Electric Vehicles[J];汽车技术;2015-10
8 GU Zhiguo;SUN Yangyang;ZHONG Yiqing;YAO Guopeng;Shenhua Xinjiang Midong Thermal Power Plant;China Huaneng Clean Energy Research Institute;;Model free adaptive control for dead zone[J];热力发电;2015-10
9 ZHAO Shu-en;LI Yu-ling;YU Qiang;School of Mechantronics and Automobile Engineering,Chongqing Jiaotong University;School of Automobile,Chang'an University;;Vehicle stability control based on chassis multiple subsystem coordinated control[J];交通运输工程学报;2015-04
10 LI Qijun;CHEN Qingzhang;Mechanical Engineering School,Changshu Institute of Technology;;Status and Development of Automotive Active Braking Technology[J];拖拉机与农用运输车;2015-04
【Secondary Citations】
Chinese Journal Full-text Database 10 Hits
1 ZHAO Yi,LU Chao,HAN Yingduo(State Key Laboratory of Control and Simulation of Power System and Generation Equipments,Department of Electrical Engineering,Tsinghua University,Beijing 100084,China);MIMO model free adaptive wide area power system stabilizer design[J];清华大学学报(自然科学版);2013-04
2 Jiang Qiang1,2 Liu Hongyi1 Yang Xinhua2 Cheng Yue2(1 School of Mechanical Engineering and Automation,Northeastern University,Shenyang 110004,China)(2 Chongqing Automobile Institute,Chongqing University of Technology,Chongqing 400054,China);Research on the Speed Ratio Control for the EM-CVT based on the Improved PID Algorithm[J];机械传动;2012-05
3 Li Xiang-gui(Gansu vocational and technical college of animal husbandry,Wuwei Gansu 733006,China);PID control strategy and simulation analysis of ABS systerm[J];机械研究与应用;2011-05
4 ZHAO Zhiguo GU Jun YU Zhuoping(School of Automotive Studies,Tongji University,Shanghai 201804);Study of Acceleration Slip Regulation Strategy for Four Wheel Drive Hybrid Electric Car[J];机械工程学报;2011-14
5 LI Jing1,ZHANG Jian1,YANG Kun2,WANG Kun3,WEI Qing1,WU Zhen-xin2(1.College of Automotive Engineering,Jilin University,Changchun 130022,China;2.China FAW Group Corporation R&D Center,Changchun 130011,China;3.China Automotive Technology and Research Center,Tianjin 300162,China);Development of ECU software and hardware-in-the-loop simulation for stability control of vehicle with electro-mechanical brake[J];吉林大学学报(工学版);2011-04
6 Lu Xiaoping Li Wei Lin Yonggang(State Key Laboratory of Fluid Power Transmission and Control,Zhejiang University,Hangzhou 310027,China);Load Control of Wind Turbine Based on Model-free Adaptive Controller[J];农业机械学报;2011-02
7 Zhang Xiangwen1,Wang Feiyue2(1.Guilin University of Electronic Technology;2.Key Laboratory of Complex Systems and Intelligence Science,Chinese Academy of Sciences);Influence of the Tire Dynamic Friction Property on the Vehicle ABS Control System[J];汽车技术;2010-12
8 WANG Weida1 DING Nenggen2 ZHANG Wei2 YU Guizhen2 XU Xiangyang2(1.School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081;2.School of Transportation Science and Engineering,Beihang University,Beijing 100191);Research and Verification of the Logic Threshold Self-adjusting Control Method for ABS[J];机械工程学报;2010-22
9 WU Shao-jian,TAO Yuan-fang(Taiyuan University of Science and Technology,Taiyuan 030024,China);Concept and Design of Extended Range Electric Vehicles[J];机械工程与自动化;2010-05
10 CHI Rong-Hu1 HOU Zhong-Sheng2 1. School of Automation and Electrical Engineering, Qingdao University of Science and Technology, Qingdao 266042, P.R.China 2. Advanced Control Systems Laboratory, School of Electronics and Information Engineering, Beijing Jiaotong University, Beijing 100044, P.R.China;A Model-free Periodic Adaptive Control for Freeway Traffic Density via Ramp Metering[J];自动化学报;2010-07
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved