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Original Article
Xiaolin TANG
Corresponding Author
ORCiD: https://orcid.org/0000-0001-5709-291X
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A comparative study of longitudinal and lateral control maneuverer in model predictive control (MPC) schemes and robust state feedback control (RSC) method for trajectory tracking of automated ground vehicles (AGVs) is presented in this paper. Both MPC-based and RSC-based tracking controller are designed on the same basis of longitudinal-lateral-yaw motions of a single-track vehicle model. The main objective is to compare the controllers’ performance of tracking accuracy of path and velocity under different test scenarios. The simulation is implemented on Carsim-Simulink joint platform using high-fidelity vehicle model and the mass uncertainties, sensor measurement noise and the performance in extreme driving conditions: turn with big curvature are considered. The simulation results indicate that mass uncertainty and sensor measurement noise of lateral velocity have little effect on the RSC-based controller, while that have relatively great influence on MPC-based one. However, MPC-based controller shows a shorter response time and more accurate tracking performance than RSC-based scheme. Finally, for the test of turn with curvature 0.02 , the maximum velocity that RSC-based controller can carry out has reached 22m/s, which is slightly better than MPC-based one: 21m/s.
Keywords
Trajectory tracking, Automated ground vehicles, Model predictive control, Robust 𝐻∞ state feedback control
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CURRENT STATUS: Published
View the published article at Chinese Journal of Mechanical Engineering.
No community comments so far
Editorial decision: Minor revision
On 17 May, 2021
Review #2 received
Received 26 Apr, 2021
Reviewer #2 agreed
On 15 Apr, 2021
Review #1 received
Received 26 Dec, 2020
Reviewer #1 agreed
On 11 Dec, 2020
Reviewers invited
Invitations sent on 10 Dec, 2020
Editor assigned
On 09 Dec, 2020
Submission checks complete
On 09 Dec, 2020
Editor invited
On 09 Dec, 2020
First submitted
On 09 Dec, 2020
Version 1
Posted 20 May, 2020
No comments provided
Editorial decision: Major revision
On 26 Sep, 2020
Review #2 received
Received 22 Jul, 2020
Reviewer #2 agreed
On 01 Jul, 2020
Review #1 received
Received 19 Jun, 2020
Reviewer #1 agreed
On 27 May, 2020
Reviewers invited
Invitations sent on 26 May, 2020
Editor assigned
On 15 May, 2020
First submitted
On 14 May, 2020
Submission checks complete
On 14 May, 2020
Editor invited
On 14 May, 2020
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Subject Areas
Mechanical Engineering
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See the published version of this preprint at Chinese Journal of Mechanical Engineering.
This is a preprint, a preliminary version of a manuscript that has not completed peer review at a journal. Research Square does not conduct peer review prior to posting preprints. The posting of a preprint on this server should not be interpreted as an endorsement of its validity or suitability for dissemination as established information or for guiding clinical practice.
Learn more about In Review
Original Article
Xiaolin TANG
Corresponding Author
ORCiD: https://orcid.org/0000-0001-5709-291X
Badges
Prescreen
This manuscript passed our Prescreen assessment
Complete author information
Appropriate declaration statements
Potential risks to human health
Prescreen
Peer Review Timeline
CURRENT STATUS: Published
View the published article at Chinese Journal of Mechanical Engineering.
No community comments so far
Editorial decision: Minor revision
On 17 May, 2021
Review #2 received
Received 26 Apr, 2021
Reviewer #2 agreed
On 15 Apr, 2021
Review #1 received
Received 26 Dec, 2020
Reviewer #1 agreed
On 11 Dec, 2020
Reviewers invited
Invitations sent on 10 Dec, 2020
Editor assigned
On 09 Dec, 2020
Submission checks complete
On 09 Dec, 2020
Editor invited
On 09 Dec, 2020
First submitted
On 09 Dec, 2020
Version 1
Posted 20 May, 2020
No comments provided
Editorial decision: Major revision
On 26 Sep, 2020
Review #2 received
Received 22 Jul, 2020
Reviewer #2 agreed
On 01 Jul, 2020
Review #1 received
Received 19 Jun, 2020
Reviewer #1 agreed
On 27 May, 2020
Reviewers invited
Invitations sent on 26 May, 2020
Editor assigned
On 15 May, 2020
First submitted
On 14 May, 2020
Submission checks complete
On 14 May, 2020
Editor invited
On 14 May, 2020
Metrics
Comments: 0
PDF Downloads: ...
HTML Views: ...
Subject Areas
Mechanical Engineering
License:
This work is licensed under a CC BY 4.0 License. Read Full License
View the published article at Chinese Journal of Mechanical Engineering.
A comparative study of longitudinal and lateral control maneuverer in model predictive control (MPC) schemes and robust state feedback control (RSC) method for trajectory tracking of automated ground vehicles (AGVs) is presented in this paper. Both MPC-based and RSC-based tracking controller are designed on the same basis of longitudinal-lateral-yaw motions of a single-track vehicle model. The main objective is to compare the controllers’ performance of tracking accuracy of path and velocity under different test scenarios. The simulation is implemented on Carsim-Simulink joint platform using high-fidelity vehicle model and the mass uncertainties, sensor measurement noise and the performance in extreme driving conditions: turn with big curvature are considered. The simulation results indicate that mass uncertainty and sensor measurement noise of lateral velocity have little effect on the RSC-based controller, while that have relatively great influence on MPC-based one. However, MPC-based controller shows a shorter response time and more accurate tracking performance than RSC-based scheme. Finally, for the test of turn with curvature 0.02 , the maximum velocity that RSC-based controller can carry out has reached 22m/s, which is slightly better than MPC-based one: 21m/s.
Figure 1
Figure 2
Figure 3
Figure 4
Figure 5
Figure 6
Figure 7
The full text of this article is available to read as a PDF.
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