Nonlinear Model Predictive Control with Terminal Cost for Autonomous Vehicles Trajectory Follow
This paper presents a nonlinear model predictive control with terminal cost (NMPC–WTC) algorithm and its open/closed-loop system analysis and simulation validation for accurate and stable path tracking of autonomous vehicles. The path tracking issue is formulated as an optimal control problem. In or...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/22/11359 |
| _version_ | 1797466054005358592 |
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| author | Jinrui Nan Xucheng Ye Wanke Cao |
| author_facet | Jinrui Nan Xucheng Ye Wanke Cao |
| author_sort | Jinrui Nan |
| collection | DOAJ |
| description | This paper presents a nonlinear model predictive control with terminal cost (NMPC–WTC) algorithm and its open/closed-loop system analysis and simulation validation for accurate and stable path tracking of autonomous vehicles. The path tracking issue is formulated as an optimal control problem. In order to improve the squeezing phenomenon of traditional NMPC, a discrete-time nonlinear model predictive controller with terminal cost is then designed, in which the state error of last step is augmented. The cost function of NMPC–WTC consists of two parts: (1) the traditional NMPC cost function responding to tracking errors and controller output, and (2) the augmented terminal cost. The algorithm was implemented on CasADi numerical optimization framework, which is free, open-source and developed for nonlinear optimization. The open-loop and closed-loop simulation results are then presented to demonstrate the improved performance in tracking accuracy and stability compared to traditional model predictive controller. |
| first_indexed | 2024-03-09T18:30:33Z |
| format | Article |
| id | doaj.art-a5372c7280c34ad1835ed7d341bbab2c |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T18:30:33Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-a5372c7280c34ad1835ed7d341bbab2c2023-11-24T07:34:00ZengMDPI AGApplied Sciences2076-34172022-11-0112221135910.3390/app122211359Nonlinear Model Predictive Control with Terminal Cost for Autonomous Vehicles Trajectory FollowJinrui Nan0Xucheng Ye1Wanke Cao2Shenzhen Automotive Research Institute (SZART), Beijing Institute of Technology, Shenzhen 100081, ChinaShenzhen Automotive Research Institute (SZART), Beijing Institute of Technology, Shenzhen 100081, ChinaShenzhen Automotive Research Institute (SZART), Beijing Institute of Technology, Shenzhen 100081, ChinaThis paper presents a nonlinear model predictive control with terminal cost (NMPC–WTC) algorithm and its open/closed-loop system analysis and simulation validation for accurate and stable path tracking of autonomous vehicles. The path tracking issue is formulated as an optimal control problem. In order to improve the squeezing phenomenon of traditional NMPC, a discrete-time nonlinear model predictive controller with terminal cost is then designed, in which the state error of last step is augmented. The cost function of NMPC–WTC consists of two parts: (1) the traditional NMPC cost function responding to tracking errors and controller output, and (2) the augmented terminal cost. The algorithm was implemented on CasADi numerical optimization framework, which is free, open-source and developed for nonlinear optimization. The open-loop and closed-loop simulation results are then presented to demonstrate the improved performance in tracking accuracy and stability compared to traditional model predictive controller.https://www.mdpi.com/2076-3417/12/22/11359terminal costnonlinear model predictive controlpath tracking |
| spellingShingle | Jinrui Nan Xucheng Ye Wanke Cao Nonlinear Model Predictive Control with Terminal Cost for Autonomous Vehicles Trajectory Follow Applied Sciences terminal cost nonlinear model predictive control path tracking |
| title | Nonlinear Model Predictive Control with Terminal Cost for Autonomous Vehicles Trajectory Follow |
| title_full | Nonlinear Model Predictive Control with Terminal Cost for Autonomous Vehicles Trajectory Follow |
| title_fullStr | Nonlinear Model Predictive Control with Terminal Cost for Autonomous Vehicles Trajectory Follow |
| title_full_unstemmed | Nonlinear Model Predictive Control with Terminal Cost for Autonomous Vehicles Trajectory Follow |
| title_short | Nonlinear Model Predictive Control with Terminal Cost for Autonomous Vehicles Trajectory Follow |
| title_sort | nonlinear model predictive control with terminal cost for autonomous vehicles trajectory follow |
| topic | terminal cost nonlinear model predictive control path tracking |
| url | https://www.mdpi.com/2076-3417/12/22/11359 |
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