The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
A linear time varying model predictive control approach to the integrated vehicle dynamics control problem in autonomous systems
Open accessAbstract
A Model Predictive Control (MPC) approach for controlling active front steering, active braking and active differentials in an autonomous vehicle is presented. We formulate a predictive control problem in order to best follow a given path by controlling the front steering angle, brakes and traction at the four wheels independently, while fulfilling various physical and design constraints. At each time step a trajectory is assumed to be known over a finite horizon, and an MPC controller computes the system inputs in order to best follow the desired trajectory on slippery roads at a given entry speed. We start from the results presented in [1], [2] and formulate the MPC problem based on successive on-line linearization of the nonlinear vehicle model (LTV MPC). Simulative results are presented, interpreted and compared against LTV MPC schemes which make use only of steering and/or braking.
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Citations
Cites
Constrained model predictive control: Stability and optimality
Mayne, D. Q., Rawlings, J. B., Rao, C. V., & Scokaert, P. O. M. (2000) · Automatica · doi:10.1016/s0005-1098(99)00214-9 · Cited by 8,736
Cited by
Ahn, H., Rizzi, A., Colombo, A., & Del Vecchio, D. (2015) · 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7354056 · Cited by 25
Metadata
- Authors
- Falcone, P., Tufo, M., Borrelli, F., Asgari, J., & Tseng, H. E.
- Venue
- 2007 46th IEEE Conference on Decision and Control
- Publisher
- IEEE
- Published
- 2007
- Pages
- 2980-2985
- ISSN
- 0191-2216 (ISSN-L)
- OpenAlex
- W2140305633
- Cited by
- 196
- References
- 1
- FWCI
- 3.94
- Type
- conference paper
- Language
- en
- Open access
- green
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- Falcone, P., Tufo, M., Borrelli, F., Asgari, J., & Tseng, H. E. (2007). A linear time varying model predictive control approach to the integrated vehicle dynamics control problem in autonomous systems. 2007 46th IEEE Conference on Decision and Control. https://doi.org/10.1109/cdc.2007.4434137
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