Optimal design of adaptive model predictive control based on improved GWO for autonomous vehicle considering system vision uncertainty

Abstract

The tuning issue of the parameters and the system uncertainty represent big challenges in most engineering applications. In this regard, a new tuning approach is developed for adaptive model predictive control (AMPC) of autonomous vehicles (AVs). The proposed control strategy tackles the uncertainty issue of the vision system due to the variation of the velocity, road curvature, time delay, and look ahead distance. The proposed AMPC is designed depending on a new improved grey wolf optimizer (IGWO) algorithm with different learning procedures and fitness-distance balance (FDB) approach to equilibrium the exploration and exploitation manners of the original GWO. This development of GWO based on FDB can increase the capability of the GWO for global search and avoid trapping in local states. Furthermore, the proposed IGWO does not require more adjustable parameters that can enhance the convergence to the best global solution rapidly. The new IGWO is compared with recent optimization algorithms such as the mayfly optimization algorithm (MA), chimp optimization algorithm (COA), dynamic arithmetic optimization algorithm (DAOA), whale optimization algorithm (WOA), jaya algorithm (JA), archimedes optimization algorithm (AOA), and equilibrium optimizer (EO) as well as the original GWO. Besides, the performance of the designed AMPC is compared with the fuzzy logic proportional integral (FLPI) controller and the traditional MPC. Various test scenarios are performed to assert the robustness and effectiveness of the designed AMPC against the variation of the velocity, road curvature, time delay, and look ahead distance. The results emphasize that the proposed AMPC can perform the best damping response with an overshoot of around 1.3 m and a settling time of around 1.12 s less than the FLPI controller and the traditional MPC.