基于紧约束鲁棒模型预测控制的无人车辆轨迹跟踪控制OACSTPCD

A tight constrained robust model predictive control(MPC)method is proposed for unmanned vehicles to track trajectory based on the nonlinear dynamics model of the vehicle.Firstly,a linear discrete error model of the vehicle with bounded disturbances is constructed by using the magic formula tire model and the vehicle 3-degree of freedom system.Secondly,a tight constraint control strategy is used to design the robust optimization problem of the system.Lastly,the optimal control sequence is obtained through on-line optimization,and the feasible control sequence that satisfies the constraint conditions at multiple times is constructed off-line.Simulation results show that the proposed algorithm can make the vehicle track the reference trajectory stably and quickly,and effectively improve the utiliza-tion of system computing resources.