Short Title: Int. J. Mech. Eng. Robot. Res.
Frequency: Bimonthly
Professor of School of Engineering, Design and Built Environment, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
2024-09-24
2024-09-03
2024-07-09
Manuscript received April 22, 2024; revised June 13, 2024; accepted July 26, 2024; published September 12, 2024
Abstract—This work is centered on developing a novel Model Predictive Control (MPC) for Four-Wheel Independent (FWID) vehicles to achieve trajectory tracking effectiveness, which is difficult to satisfy due to the changing the optimization solution after each time period. By using linearization technique for FWID model and eliminating the term of dynamic uncertainty in the tracking error model, the nominal linear Discrete Time System (DTS) is achieved to develop the proposed MPC strategy, which leverages the Luenberger observer to obtain the predictive model and extends for obtaining the Output feedback MPC scheme. On the other hand, the appropriate optimization problem is given at each time instant to guarantee the stability of the closed loop system under the designed MPC law without the consideration of terminal region as well as terminal controller, which have been considered in the previous researches. The unification between the optimization problem in MPC scheme and the tracking problem is validated by the Lyapunov function-based analysis with the inequality estimations. The efficiency of the proposed MPC law for FWID vehicles is clarified through a simulation study. Keywords—four-wheel independent vehicles, discrete time system, model predictive control, trajectory tracking control Cite: Ngoc Son Tran, Khac Lai Lai, and Phuong Nam Dao, "A Novel Model Predictive Control for an Autonomous Four-Wheel Independent Vehicle," International Journal of Mechanical Engineering and Robotics Research, Vol. 13, No. 5, pp. 509-515, 2024.Copyright © 2024 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.