Model predictive longitudinal control for autonomous electric vehicles with tracking differentiator

Yijing Wang, Shizhuo Cao, Hongjiu Yang, Zhiqiang Zuo, Li Wang and Xiaoyuan Luo

International Journal of Systems Science, 2021, vol. 52, issue 12, 2564-2579

Abstract: In this paper, the longitudinal control is investigated for an autonomous electric vehicle with a tracking differentiator. The autonomous electric vehicle is modelled as a longitudinal system for model predictive control. The tracking differentiator is proposed to obtain the transition profile and acceleration information. A dual-mode model predictive controller is designed for the longitudinal system to find the optimal control input, which is restricted with some constraints on the desired acceleration and its increment. Both iterative feasibility and its stability issues are analysed for the longitudinal system under the dual-mode model predictive controller. Experimental results are given to show the effectiveness of the proposed strategy.

Date: 2021
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DOI: 10.1080/00207721.2021.1892236

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