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.

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