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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Bibliographic Details
Published in:	IEEE transactions on industrial electronics (1982) Vol. 68; no. 9; pp. 8698 - 8707
Main Authors:	Cheng, Shuo, Li, Liang, Chen, Xiang, Wu, Jian, Wang, Hong-da
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.09.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	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
Online Access:	Get full text
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