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Nonlinear model predictive trajectory following control with feedback compensation for autonomous four-wheel independent drive electric vehicles

Trajectory following is an important function of autonomous vehicles. To enable a four-wheel independent drive electric vehicle to precisely follow a predefined or real-time generated trajectory with good lateral stability and ride comfort at high velocity, a model predictive control (MPC) scheme with feedback compensation considering model mismatch is proposed in this paper to coordinate the direct yaw-moment control and active front steering. The system input signal computed by model predictive control is corrected by the feedback compensation to cope with the model mismatch existing between the controlled vehicle and the nominal model. Moreover, co-simulation is carried out between the software MATLAB/Simulink and Carsim to verify the proposed method. In comparison, the integration of the direct yaw-moment control and active front steering through model predictive control can overcome the non-smooth problem of vehicle dynamics while implementing the active front steering only. However, the value of the external yaw moment computed by the model predictive controller might be too large due to the predictive error in extreme situations, which could endanger the vehicle. The results reveal that the proposed model predictive control scheme with feedback compensation can effectively compensate the front steering angle and enhance the control effect. Therefore, it can significantly improve the trajectory following accuracy and yaw stability.