SwePub - search: WFRF:(Tufo Emanuela)

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1.	Falcone, Paolo, 1977, et al. (author) Linear Time Varying Model Predictive Control Approach to the Integrated Vehicle Dynamics Control Problem in Autonomous Systems 2007 In: 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, December 2007. Conference paper (peer-reviewed)abstract A Model Predictive Control (MPC) approach for controlling active front steering, active braking and active differentials in an autonomous vehicle is presented. We formulate a predictive control problem in order to best follow a given path by controlling the front steering angle, brakes and traction at the four wheels independently, while fulfilling various physical and design constraints. At each time step a trajectory is assumed to be known over a finite horizon, and an MPC controller computes the system inputs in order to best follow the desired trajectory on slippery roads at a given entry speed. We start from the results presented in [1], [2] and formulate the MPC problem based on successive on-line linearization of the nonlinear vehicle model (LTV MPC). Simulative results are presented, interpreted and compared against LTV MPC schemes which make use only of steering and/or braking.

Falcone, Paolo, 1977, et al. (author)
Linear Time Varying Model Predictive Control Approach to the Integrated Vehicle Dynamics Control Problem in Autonomous Systems
2007
In: 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, December 2007.
Conference paper (peer-reviewed)abstract
- A Model Predictive Control (MPC) approach for controlling active front steering, active braking and active differentials in an autonomous vehicle is presented. We formulate a predictive control problem in order to best follow a given path by controlling the front steering angle, brakes and traction at the four wheels independently, while fulfilling various physical and design constraints. At each time step a trajectory is assumed to be known over a finite horizon, and an MPC controller computes the system inputs in order to best follow the desired trajectory on slippery roads at a given entry speed. We start from the results presented in [1], [2] and formulate the MPC problem based on successive on-line linearization of the nonlinear vehicle model (LTV MPC). Simulative results are presented, interpreted and compared against LTV MPC schemes which make use only of steering and/or braking.

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