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Towards Real-Time Model Predictive Control Approach for Autonomous Active Steering

Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Francesco Borrelli ; Jahan Asgari ; H. Eric Tseng ; Davor Hrovat
8th International Symposium on Advanced Vehicle Control, Taipei, Taiwan, August 2006 (2006)
[Konferensbidrag, refereegranskat]

In this paper we follow the novel approach presented in [1] to autonomous active steering control design. A nonlinear Model Predictive Control (MPC) scheme is designed to control front wheel steering in order to stabilize a vehicle along a desired path while fulfilling its physical constraints. The proposed nonlinear MPC controller has been implemented in in real time by using advanced sensors, actuators and non-linear optimization solvers. This papers presents the experimental setup and the experimental results obtained at low vehicle speeds on icy roads with a passenger car.



Denna post skapades 2008-04-13.
CPL Pubid: 70077

 

Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik

Ämnesområden

Reglerteknik

Chalmers infrastruktur