Robust predictive path-following control of autonomous ground vehicle with input delays

ABSTRACT

This paper introduces a path-following control method for autonomous ground vehicle with significant input delays. First, a vehicle path-following model including input delay is developed. Then, a robust predictive controller design is developed, in which a delay estimator as well as a state predictor is adopted so that control law design as well as controller gain calculation can be conducted without considering the input delay. Thus, the controller synthesis work can be greatly simplified. Finally, comparative co-simulation tests with Matlab/Simulink and Carsim are presented to verify the efficiency as well as the performance of the proposed path-following control approach.

KEYWORDS:

• Input delay
• autonomous ground vehicle
• robust predictive control
• path following

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

The work was supported by the Opening Funding Supported by the Key Laboratory of Transport Industry of Road Structure and Material (Research Institute of Highway, Ministry of Transport), Beijing, PRC.