Comparative Study of Trajectory Tracking Control for Automated Vehicles via Model Predictive Control and Robust H-infinity State Feedback Control

Kai Yang,Huayan Pu,Yanjun Huang,Yechen Qin,Hong Wang,Xiaolin Tang

doi:10.1186/s10033-021-00590-3

Abstract

A comparative study of model predictive control (MPC) schemes and robust H_{infty } state feedback control (RSC) method for trajectory tracking is proposed in this paper. The main objective of this paper is to compare MPC and RSC controllers’ performance in tracking predefined trajectory under different scenarios. MPC controller is designed based on the simple longitudinal-yaw-lateral motions of a single-track vehicle with a linear tire, which is an approximation of the more realistic model of a vehicle with double-track motion with a non-linear tire mode. RSC is designed on the basis of the same method as adopted for the MPC controller to achieve a fair comparison. Then, three test cases are built in CarSim-Simulink joint platform. Specifically, the verification test is used to test the tracking accuracy of MPC and RSC controller under well road conditions. Besides, the double lane change test with low road adhesion is designed to find the maximum velocity that both controllers can carry out while guaranteeing stability. Furthermore, an extreme curve test is built where the road adhesion changes suddenly, in order to test the performance of both controllers under extreme conditions. Finally, the advantages and disadvantages of MPC and RSC under different scenarios are also discussed.

Highlights

The increasing demands on mobility, efficiency and safety have extremely promoted the development of intelligent transportation system (ITS) in recent years [1,2,3,4]
Both model predictive control (MPC) and robust H∞ state feedback control (RSC) controllers are designed based on the same longitudinal-yawlateral motions of a single-track vehicle with a linear tire model to achieve a fair comparison
3.2 Trajectory Tracking Controller Based on RSC 3.2.1 Preliminary Knowledge of RSC We re-emphasize that the main objective of this paper is a comparative study of different control strategies

Summary

Introduction

The increasing demands on mobility, efficiency and safety have extremely promoted the development of intelligent transportation system (ITS) in recent years [1,2,3,4]. To the best of the authors’ knowledge, there is no comparative study of MPC and RSC techniques for trajectory tracking Both MPC and RSC controllers are designed based on the same longitudinal-yawlateral motions of a single-track vehicle with a linear tire model to achieve a fair comparison. 3.2 Trajectory Tracking Controller Based on RSC 3.2.1 Preliminary Knowledge of RSC We re-emphasize that the main objective of this paper is a comparative study of different control strategies Both MPC-based and RSC-based tracking controllers use standard design methods, and the RSC-based tracking controller design mainly adopts the theory applied in Refs. 3.2.2 Formulation of Trajectory Tracking Problem Similar to MPC-based controller, the constrains imposed on inputs should be taken into consideration [33]. We use the yalmip toolbox to solve this issue because it has simple syntax and is easy to use

Comparative Study of MPC‐Based and RSC‐Based Controllers

Case 1

Case 3

Conclusions