In order to solve the problems of long operation time for solving the trajectory tracking controller and low real-time tracking.This paper proposes an improved model predictive control algorithm.By introducing the gra...In order to solve the problems of long operation time for solving the trajectory tracking controller and low real-time tracking.This paper proposes an improved model predictive control algorithm.By introducing the gradient projection method(GPM),the projection direction is used as the fastest descent direction of the objective function,which is used to reduce the number of iterations of the operation.Meanwhile,this paper adds constraints and relaxation factors to improve the trajectory tracking accuracy and prevent the controller operations from falling into local optimal solutions.Simulation by Simulink,the improved model predictive control algorithm reduces the average operation time by 24.74%and the single maximum operation time by 36.04%,effectively improving the real-time trajectory tracking performance.Finally,the verification experiment of trajectory tracking control is carried out by actual vehicle,proving the method's effectiveness.展开更多
基金supported by Yancheng Institute of’Technology Training Program of Innovation and Entrepreneurship for Postgraduates under Grant of Technology Training Program of Innovation and Entrepreneurship for Postgraduates under Grant:[Grant Number SJCX23_XZ025]the Natural Science Research Project for Higher Education Institutions in Jangsu Province:[Grant Number 21KJD460009]。
文摘In order to solve the problems of long operation time for solving the trajectory tracking controller and low real-time tracking.This paper proposes an improved model predictive control algorithm.By introducing the gradient projection method(GPM),the projection direction is used as the fastest descent direction of the objective function,which is used to reduce the number of iterations of the operation.Meanwhile,this paper adds constraints and relaxation factors to improve the trajectory tracking accuracy and prevent the controller operations from falling into local optimal solutions.Simulation by Simulink,the improved model predictive control algorithm reduces the average operation time by 24.74%and the single maximum operation time by 36.04%,effectively improving the real-time trajectory tracking performance.Finally,the verification experiment of trajectory tracking control is carried out by actual vehicle,proving the method's effectiveness.
