Path Tracking and Direct Yaw Moment Coordinated Control Based on Robust MPC With the Finite Time Horizon for Autonomous Independent-Drive Vehicles

It is a striking fact that the characteristics of parametric uncertainties, external disturbance, time-varying and nonlinearities are available in the constructed model of autonomous independent-drive vehicles; therefore, in this paper, the robust model predictive control (MPC) with the finite time...

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Bibliographic Details
Published in:	IEEE transactions on vehicular technology Vol. 69; no. 6; pp. 6053 - 6066
Main Authors:	Peng, Haonan, Wang, Weida, An, Quan, Xiang, Changle, Li, Liang
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.06.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Autonomous independent-drive vehicles Computer simulation Cornering Degrees of freedom direct yaw moment control Dynamic characteristics Electric vehicles finite time horizon Linear matrix inequalities linear parameter varying model Mathematical model Optimization Path tracking path tracking control Predictive control Predictive models Real-time systems Robust control robust model predictive control Stiffness Tires Uncertainty Vehicle dynamics Vehicles Wheels Yawing moments
ISSN:	0018-9545, 1939-9359
Online Access:	Get full text
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