KFU. Card publication. An MPC-Based Path-Following Control Algorithm of the Road Train

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

AN MPC-BASED PATH-FOLLOWING CONTROL ALGORITHM OF THE ROAD TRAIN

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2021

Authors, employees of KFU

Volkov Vasiliy Gennadevich, author

Demyanov Dmitriy Nikolaevich, author

Authors, postgraduates KFU

Galimova Gulshat Rifkatovna, postgraduate kfu

Bibliographic description in the original language

Galimova G., Volkov V., Demyanov D. An MPC-Based Path-Following Control Algorithm of the Road Train //2021 International Russian Automation Conference (RusAutoCon). ? IEEE, 2021. ? S. 964-969.

Annotation

The paper considers the problem of controlling the movement of a road train along a curved trajectory with an optimal speed, taking into account the restrictions on the control actions and the road train jackknifing angle. We formulated the problem of the road train motion MPC-control. We propose a prediction model and formulas for calculating the reference states and control inputs. The article presents the results of testing the movement of a road train along given trajectories at various values of the reference speed. It is shown that the algorithm provides sufficiently high accuracy of following the trajectory, maintaining the speed close to its reference value. The developed algorithm can be used in the future to develop systems of active driver assistance systems and autonomous road trains.

Keywords

model predictive control, coupled control, vehicle longitudinal dynamics, vehicle lateral dynamics, path following, road train

Publishing house

IEEE

URL

https://ieeexplore.ieee.org/document/9537560

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=257332&p_lang=2

Full metadata record

Field DC	Value	Language
dc.contributor.author	Volkov Vasiliy Gennadevich	ru_RU
dc.contributor.author	Demyanov Dmitriy Nikolaevich	ru_RU
dc.contributor.author	Galimova Gulshat Rifkatovna	ru_RU
dc.date.accessioned	2021-01-01T00:00:00Z	ru_RU
dc.date.available	2021-01-01T00:00:00Z	ru_RU
dc.date.issued	2021	ru_RU
dc.identifier.citation	Galimova G., Volkov V., Demyanov D. An MPC-Based Path-Following Control Algorithm of the Road Train //2021 International Russian Automation Conference (RusAutoCon). ? IEEE, 2021. ? С. 964-969.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=257332&p_lang=2	ru_RU
dc.description.abstract	The paper considers the problem of controlling the movement of a road train along a curved trajectory with an optimal speed, taking into account the restrictions on the control actions and the road train jackknifing angle. We formulated the problem of the road train motion MPC-control. We propose a prediction model and formulas for calculating the reference states and control inputs. The article presents the results of testing the movement of a road train along given trajectories at various values of the reference speed. It is shown that the algorithm provides sufficiently high accuracy of following the trajectory, maintaining the speed close to its reference value. The developed algorithm can be used in the future to develop systems of active driver assistance systems and autonomous road trains.	ru_RU
dc.language.iso	ru	ru_RU
dc.publisher	IEEE	ru_RU
dc.subject	model predictive control	ru_RU
dc.subject	coupled control	ru_RU
dc.subject	vehicle longitudinal dynamics	ru_RU
dc.subject	vehicle lateral dynamics	ru_RU
dc.subject	path following	ru_RU
dc.subject	road train	ru_RU
dc.title	An MPC-Based Path-Following Control Algorithm of the Road Train	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU