Parallel Nonlinear Model Predictive Controller for Real-Time Path Tracking of Autonomous Vehicle

To raise the real-time performance of the path tracking controller based on nonlinear model predictive control (NMPC), this article presents a parallel NMPC controller based on Newton optimization algorithm and field programmable gate array (FPGA) implementation for path tracking control of autonomo...

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Bibliographic Details
Published in:	IEEE transactions on industrial electronics (1982) Vol. 71; no. 12; pp. 16503 - 16513
Main Authors:	Xu, Fang, Zhang, Xu, Chen, Hong, Hu, Yunfeng, Wang, Ping, Qu, Ting
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.12.2024 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Acceleration Algorithms Autonomous vehicles Control systems design Controllers Coupling Design optimization Field programmable gate array (FPGA) implementation Field programmable gate arrays Hardware Mathematical models Nonlinear control Nonlinear dynamics nonlinear model predictive control parallel Newton optimization algorithm Path tracking path tracking control Performance prediction Predictive control Predictive models Real time Real-time systems Tracking Tracking control Vehicle dynamics Wheels
ISSN:	0278-0046, 1557-9948
Online Access:	Get full text
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