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Träfflista för sökning "WFRF:(Gupta Ankit 1988) srt2:(2018)"

Sökning: WFRF:(Gupta Ankit 1988) > (2018)

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1.
  • Gupta, Ankit, 1988, et al. (författare)
  • Low-Complexity Explicit MPC Controller for Vehicle Lateral Motion Control
  • 2018
  • Ingår i: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC. ; 2018-November, s. 2839-2844
  • Konferensbidrag (refereegranskat)abstract
    • We consider the problem of controlling the vehicle lateral motion in highway scenarios while guaranteeing safety. We propose a solution consisting of a Low-Complexity Explicit Model Predictive Controller (LC-EMPC), where the lateral deviation from the desired path is hard constrained according to prescribed bounds. The robust satisfaction of such safety constraints can be achieved by imposing the terminal state to enter a Robust Invariant Set (RIS), which is known to result into a potentially high number of additional constraints, thus increasing the computational complexity of the controller. Our controller, instead, relies on recent results on the calculation of low-complexity RIS to significantly reduce the number of constraints in the MPC controller. Simulation results show that the designed controller is able to meet the desired objectives with highly reduced complexity.
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2.
  • Klintberg, Emil, 1989, et al. (författare)
  • A primal active-set minimal-representation algorithm for polytopes with application to invariant-set calculations
  • 2018
  • Ingår i: Proceedings of the IEEE Conference on Decision and Control. - 2576-2370 .- 0743-1546. ; 2018-December, s. 6862-6867
  • Konferensbidrag (refereegranskat)abstract
    • This paper provides a description of a practically efficient minimal-representation algorithm for polytopes. The algorithm is based on a primal active-set method that heavily exploits warm-starts and low-rank updates of matrix factorizations in order to reduce the required computational work. By using a primal active-set method, several nonredundant inequalities can be identified for each solved linear program. Implementation details are provided both for the minimalrepresentation algorithm and for the underlying active-set method.
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  • Resultat 1-2 av 2
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Gupta, Ankit, 1988 (2)
Nilsson, Magnus (1)
Falcone, Paolo, 1977 (1)
Klintberg, Emil, 198 ... (1)
Mårdh, Lars Johannes ... (1)
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Chalmers tekniska högskola (2)
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