The DOI matches its Crossref record; 15 of the 15 references it cites were found in a registry or an index.
MPC-based approach to active steering for autonomous vehicle systems
Open accessAbstract
In this paper a novel approach to autonomous steering systems is presented. A model predictive control (MPC) scheme is designed in order to stabilize a vehicle along a desired path while fulfilling its physical constraints. Simulation results show the benefits of the systematic control methodology used. In particular we show how very effective steering manoeuvres are obtained as a result of the MPC feedback policy. Moreover, we highlight the trade off between the vehicle speed and the required preview on the desired path in order to stabilize the vehicle. The paper concludes with highlights on future research and on the necessary steps for experimental validation of the approach.
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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
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García, C. E., Prett, D. M., & Morari, M. (1989) · Automatica · doi:10.1016/0005-1098(89)90002-2 · Cited by 5,284
The explicit linear quadratic regulator for constrained systems
Bemporad, A., Morari, M., Dua, V., & Pistikopoulos, E. N. (2002) · Automatica · doi:10.1016/s0005-1098(01)00174-1 · Cited by 3,260
Control of systems integrating logic, dynamics, and constraints
Bemporad, A., & Morari, M. (1999) · Automatica · doi:10.1016/s0005-1098(98)00178-2 · Cited by 3,066
Robust constrained model predictive control using linear matrix inequalities
Kothare, M. V., Balakrishnan, V., & Morari, M. (1996) · Automatica · doi:10.1016/0005-1098(96)00063-5 · Cited by 2,516
Model predictive control: past, present and future
Morari, M., & H. Lee, J. (1999) · Computers & Chemical Engineering · doi:10.1016/s0098-1354(98)00301-9 · Cited by 2,335
Robust receding horizon control of constrained nonlinear systems
Michalska, H., & Mayne, D. Q. (1993) · IEEE Transactions on Automatic Control · doi:10.1109/9.262032 · Cited by 1,181
Min-max feedback model predictive control for constrained linear systems
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Worst-case formulations of model predictive control for systems with bounded parameters
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Advances in simultaneous strategies for dynamic process optimization
Biegler, L. T., Cervantes, A. M., & Wächter, A. (2002) · Chemical Engineering Science · doi:10.1016/s0009-2509(01)00376-1 · Cited by 428
Cited by
Optimization‐based autonomous racing of 1:43 scale RC cars
Liniger, A., Domahidi, A., & Morari, M. (2015) · Optimal Control Applications and Methods · doi:10.1002/oca.2123 · Cited by 537
Huang, Y., Ding, H., Zhang, Y., Wang, H., Cao, D., Xu, N., & Hu, C. (2020) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2019.2898599 · Cited by 409
Metadata
- Authors
- Borrelli, F., Falcone, P., Keviczky, T., Asgari, J., & Hrovat, D.
- Venue
- International Journal of Vehicle Autonomous Systems
- Publisher
- Inderscience Publishers
- Published
- 2005
- Volume
- 3
- Issue
- 2/3/4
- Pages
- 265
- ISSN
- 1471-0226 (ISSN-L)
- 1741-5306
- OpenAlex
- W1968651586
- Cited by
- 428
- References
- 15
- FWCI
- 18.64
- Type
- journal article
- Language
- en
- Open access
- green
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- Borrelli, F., Falcone, P., Keviczky, T., Asgari, J., & Hrovat, D. (2005). MPC-based approach to active steering for autonomous vehicle systems. International Journal of Vehicle Autonomous Systems. https://doi.org/10.1504/ijvas.2005.008237
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
