LQR-MPC-Based Trajectory-Tracking Controller of Autonomous Vehicle Subject to Coupling Effects and Driving State Uncertainties

This paper presents a lateral and longitudinal coupling controller for a trajectory-tracking control system. The proposed controller can simultaneously minimize lateral tracking deviation while tracking the desired trajectory and vehicle speed. Firstly, we propose a hierarchical control structure co...

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Veröffentlicht in:	Sensors (Basel, Switzerland) Jg. 22; H. 15; S. 5556
Hauptverfasser:	Yuan, Tengfei, Zhao, Rongchen
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Basel MDPI AG 25.07.2022 MDPI
Schlagworte:	Accuracy Autonomous vehicles Control algorithms Controllers Design Extended Kalman Filter (EKF) observer lateral and longitudinal coupling control Robust control Sensors trajectory tracking Velocity
ISSN:	1424-8220, 1424-8220
Online-Zugang:	Volltext
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