CPL - Chalmers Publication Library
| Utbildning | Forskning | Styrkeområden | Om Chalmers | In English In English Ej inloggad.

Linear Time Varying Model Predictive Control Approach to the Integrated Vehicle Dynamics Control Problem in Autonomous Systems

Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Emanuela Tufo ; Francesco Borrelli ; Jahan Asgari ; H. Eric Tseng
46th IEEE Conference on Decision and Control, New Orleans, LA, USA, December 2007 (2007)
[Konferensbidrag, refereegranskat]

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.

Denna post skapades 2008-04-10. Senast ändrad 2008-05-11.
CPL Pubid: 70010


Läs direkt!

Länk till annan sajt (kan kräva inloggning)

Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik



Chalmers infrastruktur