| 1. |
- Falcone, Paolo, 1977, et al.
(författare)
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A Real-Time Model Predictive Control Approach for Autonomous Active Steering
- 2006
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Ingår i: First IFAC International workshop on NMPC for Fast Systems, Grenoble, France, October 2006.
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Konferensbidrag (refereegranskat)abstract
- The problem of controlling the front steering to stabilize a vehicle along a desired path is tackled in this paper. Although a Non-LinearModel Predictive Control (NLMPC) approach can achieve good performance and constraints fulfillment, its computational burden does not allow a real-time implementation. In order to decrease the complexity of the controller, in this paper we propose a suboptimal MPC scheme based on successive on-line linearizations of the non-linear vehicle model. The method stems from an accurate analysis of the vehicle nonlinearities, the constraints and the performance index in the optimal control problem. The simulation results show a significant reduction of the controller complexity, with a small loss of performances respect to a NLMPC controller. The suboptimal MPC control policy is compared to the control policy of a robot driver from Ford Motor Company.We show that better performance can be achieved with a smaller control effort, without violating vehicle physical constraints, by using a systematic control design procedure.
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| 3. |
- Falcone, Paolo, 1977, et al.
(författare)
-
Towards Real-Time Model Predictive Control Approach for Autonomous Active Steering
- 2006
-
Ingår i: 8th International Symposium on Advanced Vehicle Control, Taipei, Taiwan, August 2006.
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Konferensbidrag (refereegranskat)abstract
- In this paper we follow the novel approach presented in [1] to autonomous active steering control design. A nonlinear Model Predictive Control (MPC) scheme is designed to control front wheel steering in order to stabilize a vehicle along a desired path while fulfilling its physical constraints.The proposed nonlinear MPC controller has been implemented in in real time by using advanced sensors, actuators and non-linear optimization solvers. This papers presents the experimental setup and the experimental results obtained at low vehicle speeds on icy roads with a passenger car.
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