In this article, the lateral path following problem of unmanned ground vehicle with bounded disturbances is studied. A dual-mode model predictive control (MPC) algorithm based on adaptive event triggered mechanism is proposed. Compared with the existing MPC algorithm, adaptive event triggered model predictive control (AEMPC) can ensure the tracking accuracy and reduce the optimization computation. Feasibility and stability of AEMPC algorithm are guaranteed by constraint region parameter design. Finally, simulation results of the vehicle dynamics model are given, and the comparisons are made.

中文翻译：

---

基于自适应事件的无人地面车辆系统预测横向跟随控制

本文研究了有界扰动下无人地面车辆的横向路径跟随问题。提出了一种基于自适应事件触发机制的双模模型预测控制(MPC)算法。与现有的MPC算法相比，自适应事件触发模型预测控制（AEMPC）可以保证跟踪精度，减少优化计算量。约束区域参数设计保证了AEMPC算法的可行性和稳定性。最后给出了车辆动力学模型的仿真结果，并进行了比较。