Trajectory Tracking of Bus Based on Feedback-feedforward Model Free Adaptive Control

In this paper, a feedback-feedforward trajectory tracking control method based on model-free adaptive iterative learning is proposed for bus that aiming the periodic repetitive work characteristics. First of all, considering the bus operation reality, the vehicle longitudinal kinematics model is established under repetitive environment. Secondly, the model free adaptive control (MFAC) is combined with feedforward iterative learning control (ILC) to realize the vehicle position tracking. Finally, the simulation analysis is carried out with selected bus parameters. The simulation results show that this control method can effectively utilize the historical data of the bus operation, and realize the high-precision tracking performance in the limited time range.