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<p>The dynamic characteristics of the steering actuator, including response time-delay and calibration deviation, are crucial to a vehicle’s path tracking performance. This study proposes a novel vehicle path tracking control strategy by combining nonlinear model predictive control (NMPC), time-delay model control, and calibration deviation compensation control. In the first stage, the path tracking NMPC strategy is designed without considering the steering actuator’s dynamic characteristics. In the second stage, by combining polynomial fitting with linear matrix inequality (LMI) techniques, a nonlinear time-delay model control algorithm is designed to address the response time-delay. In the third stage, based on the inverse model of the calibration deviation, a nonlinear compensation algorithm is designed for steering actuator’s calibration deviation. Finally, simulation and real vehicle experiment results are provided to illustrate the effectiveness of the proposed vehicle path tracking control strategy.</p>

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Nonlinear model predictive control strategy for vehicle path tracking with steering actuator’s dynamic characteristics

  • 期刊论文

  • 发表日期：

    2025年12月8日

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  • Bin Wang,
  • Zhiguo Zhao,
  • Xiwen Yuan,
  • Yuyi Wang

摘要

The dynamic characteristics of the steering actuator, including response time-delay and calibration deviation, are crucial to a vehicle’s path tracking performance. This study proposes a novel vehicle path tracking control strategy by combining nonlinear model predictive control (NMPC), time-delay model control, and calibration deviation compensation control. In the first stage, the path tracking NMPC strategy is designed without considering the steering actuator’s dynamic characteristics. In the second stage, by combining polynomial fitting with linear matrix inequality (LMI) techniques, a nonlinear time-delay model control algorithm is designed to address the response time-delay. In the third stage, based on the inverse model of the calibration deviation, a nonlinear compensation algorithm is designed for steering actuator’s calibration deviation. Finally, simulation and real vehicle experiment results are provided to illustrate the effectiveness of the proposed vehicle path tracking control strategy.