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MPC-Based Yaw and L...
MPC-Based Yaw and Lateral Stabilization Via Active Front Steering and Braking
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- Falcone, Paolo, 1977 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Tseng, H. Eric (författare)
- Ford Motor Company
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- Borrelli, Francesco (författare)
- University of California
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- Asgari, Jahan (författare)
- Ford Motor Company
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- Hrovat, Davor (författare)
- Ford Motor Company
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(creator_code:org_t)
- Informa UK Limited, 2008
- 2008
- Engelska.
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Ingår i: Vehicle System Dynamics. - : Informa UK Limited. - 1744-5159 .- 0042-3114. ; 46, Supplement:SUPPL.1, s. 611-628
- Relaterad länk:
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http://dx.doi.org/10...
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https://doi.org/10.1...
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https://research.cha...
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Abstract
Ämnesord
Stäng
- In this paper we propose a path following Model Predictive Control-based (MPC) scheme utilizing steering and braking. The control objective is to track a desired path for obstacle avoidance maneuver, by a combined use of braking and steering. The proposed control scheme relies on the Nonlinear MPC (NMPC) formulation we used in [1] and [2]. In this work, the NMPC formulation will be used in order to derive two different approaches. The first relies on a full tenth order vehicle model and has high computational burden. The second approach is based on a simplified bicycle model and has a lower computational complexity compared to the first. The effectiveness of the proposed approaches is demonstrated through simulations and experiments.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik -- Teknisk mekanik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering -- Applied Mechanics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Model Predictive Control
- Vehicle dynamics
- Autonomous Vehicles
Publikations- och innehållstyp
- art (ämneskategori)
- ref (ämneskategori)
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