Nonlinear Model Predictive Control for Precise Path Tracking in 4WID4WIS Electric Vehicles with Disturbance Observer-Based Speed Control

Firda Aulia Pramita*, Ari Santoso, Achmad Jazidie

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This research presents a novel methodology for attaining accurate path tracking in Four-Wheel Independent Drive Four-Wheel Independent Steering Unmanned Electric Vehicles (4WID4WIS UEVs) through the integration of Nonlinear Model Predictive Control (NMPC) with Disturbance Observer-Based (DOB) Speed Control. The vehicle system is equipped with four driving motors and four steering motors, with each motor being controlled by a lower-level controller. By utilizing the robust capabilities of NMPC in dealing with highly nonlinear models and its capacity to forecast system behavior across many time intervals, we lay the groundwork for achieving precise path tracking control. At the lower level, the disturbance observer-based speed controller (DOBSC) is utilized to mitigate disturbances and maintain accurate speed control, hence establishing a firm foundation for NMPC system. The NMPC method improving the vehicle's ability to correctly adhere to desired trajectories. The present study signifies a notable progress in the realm of path tracking control for 4WID4WIS UEVs. This development holds significant potential for implementation in the fields of autonomous driving and intelligent transportation systems.

Original languageEnglish
Title of host publication2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages417-422
Number of pages6
ISBN (Electronic)9798350309225
DOIs
Publication statusPublished - 2023
Event2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Lombok, Indonesia
Duration: 14 Nov 202315 Nov 2023

Publication series

Name2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023 - Proceedings

Conference

Conference2023 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2023
Country/TerritoryIndonesia
CityLombok
Period14/11/2315/11/23

Keywords

  • 4WIDWIS
  • Disturbance Observer-Based (DOB)
  • Nonlinear Model Predictive Control (NMPC)
  • Path Tracking Control (PTC)
  • Unmanned Electric Vehicles (UEVs)

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