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.

摘要

在本文中，研究了具有跟踪微分器的自主电动汽车的纵向控制。自主电动汽车被建模为用于模型预测控制的纵向系统。提出了跟踪微分器来获取过渡轮廓和加速度信息。为纵向系统设计了一种双模模型预测控制器来寻找最优控制输入，该控制输入受到对期望加速度及其增量的一些约束。分析了双模模型预测控制器下纵向系统的迭代可行性及其稳定性问题。实验结果表明了所提出策略的有效性。