Design synthesis of NLMPC-based tracking controller for autonomous vehicles with active aerodynamic control
| dc.contributor.advisor | He, Yuping | |
| dc.contributor.advisor | Agelin-Chaab, Martin | |
| dc.contributor.author | Mao, Chunyu | |
| dc.date.accessioned | 2023-03-13T16:24:14Z | |
| dc.date.available | 2023-03-13T16:24:14Z | |
| dc.date.issued | 2022-12-01 | |
| dc.degree.discipline | Automotive Engineering | en |
| dc.degree.level | Master of Applied Science (MASc) | en |
| dc.description.abstract | The past three decades have witnessed extensive studies on tracking-control for autonomous vehicles (AVs). However, there is a lack of studies on effective design methods in this field. To tackle this problem, this thesis proposes a design synthesis method which is featured a design framework with two layers: at the upper layer, a particle swarm optimization algorithm is used to find optimal solutions with desired trajectory-tracking performance; at the lower layer, a comprehensively coupled dynamic analysis is conducted among the three subsystems, including a nonlinear vehicle model with active aerodynamic control for mechanical vehicle representation, a motion-planning module with given perception data, and a tracking controller based on non-linear model predictive control (NLMPC) for direction and lateral stability control. The design optimization demonstrates that the proposed method can effectively determine the desired design variables to achieve optimal trajectory-tracking performance. The insightful findings from this study will provide valuable guidelines for designing autonomous vehicles. | en |
| dc.description.sponsorship | University of Ontario Institute of Technology | en |
| dc.identifier.uri | https://hdl.handle.net/10155/1584 | |
| dc.language.iso | en | en |
| dc.subject | Autonomous vehicles | en |
| dc.subject | Autonomous steering control | en |
| dc.subject | Trajectory-tracking | en |
| dc.subject | Non-linear model predictive control | en |
| dc.subject | Active aerodynamic control | en |
| dc.title | Design synthesis of NLMPC-based tracking controller for autonomous vehicles with active aerodynamic control | en |
| dc.type | Thesis | en |