Model-Predictive-Control-Based Path Tracking Controller of Autonomous Vehicle Considering Parametric Uncertainties and Velocity-Varying

The automated steering control technology is crucial for an autonomous vehicle, but due to parametric uncertainties and time varying, the performance of automated steering control can be degraded. Therefore, a vehicle automated steering controller based on a model predictive control (MPC) approach i...

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Vydáno v:	IEEE transactions on industrial electronics (1982) Ročník 68; číslo 9; s. 8698 - 8707
Hlavní autoři:	Cheng, Shuo, Li, Liang, Chen, Xiang, Wu, Jian, Wang, Hong-da
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	New York IEEE 01.09.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:	Apexes Automated steering system Automatic control Automation Autonomous vehicles Axles Control systems design Controllers Linear matrix inequalities linear matrix inequalities (LMI) Mathematical model Mathematical models Parameter robustness Parameter uncertainty parametric uncertainties Path tracking Predictive control Robust control robust model predictive control (MPC) Robustness Steering Tires Tracking control Traffic speed Uncertainty Vehicle dynamics
ISSN:	0278-0046, 1557-9948
On-line přístup:	Získat plný text
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