A tube-based robust nonlinear predictive control approach to semiautonomous ground vehicles
This paper proposes a robust control framework for lane-keeping and obstacle avoidance of semiautonomous ground vehicles. It presents a systematic way of enforcing robustness during the MPC design stage. A robust nonlinear model predictive controller (RNMPC) is used to help the driver navigating the...
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| Veröffentlicht in: | Vehicle system dynamics 2014-06, Vol.52 (6), p.802-823 |
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| container_title | Vehicle system dynamics |
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| creator | Gao, Yiqi Gray, Andrew Tseng, H. Eric Borrelli, Francesco |
| description | This paper proposes a robust control framework for lane-keeping and obstacle avoidance of semiautonomous ground vehicles. It presents a systematic way of enforcing robustness during the MPC design stage. A robust nonlinear model predictive controller (RNMPC) is used to help the driver navigating the vehicle in order to avoid obstacles and track the road centre line. A force-input nonlinear bicycle vehicle model is developed and used in the RNMPC control design. A robust invariant set is used in the RNMPC design to guarantee that state and input constraints are satisfied in the presence of disturbances and model error. Simulations and experiments on a vehicle show the effectiveness of the proposed framework. |
| doi_str_mv | 10.1080/00423114.2014.902537 |
| format | Article |
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Simulations and experiments on a vehicle show the effectiveness of the proposed framework.</description><subject>active safety</subject><subject>autonomous vehicles</subject><subject>Computer simulation</subject><subject>Design engineering</subject><subject>Grounds</subject><subject>Invariants</subject><subject>Mathematical models</subject><subject>Nonlinearity</subject><subject>Obstacles</subject><subject>robust control</subject><subject>robust nonlinear MPC</subject><subject>uncertain dynamics</subject><subject>vehicle safety</subject><subject>Vehicles</subject><issn>0042-3114</issn><issn>1744-5159</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2014</creationdate><recordtype>article</recordtype><recordid>eNp9kDFP5DAQha0TSCxw_4DCJU24cexskgqtVhwgrURDR2FN7PHhU2IvtgPi319Wy7U0M833np4-xq4E3Ajo4BeAqqUQ6qaG5fRQN7L9wVaiVapqRNOfsNUBqQ7MGTvP-S8ASOjaFXvZ8DIPVA2YyfIUhzkXHmIYfSBMfJ_IelP8O3ETQ0lx5Ljfp4jmlZfIM00e5xJDnOKc-Z8U52D5O716M1K-ZKcOx0w_v_4Fe_5997x9qHZP94_bza4yCtalGtyyRvTkiKBtqB5qaTvby84hgbHQ2U4gKXBrhVZiu1a2dQhyaDuhBMoLdn2sXXa9zZSLnnw2NI4YaFmlRdMIaLta9AuqjqhJMedETu-TnzB9agH6oFL_V6kPKvVR5RK7PcZ8cDFN-BHTaHXBzzEmlzAYn7X8tuEfeE58UQ</recordid><startdate>20140603</startdate><enddate>20140603</enddate><creator>Gao, Yiqi</creator><creator>Gray, Andrew</creator><creator>Tseng, H. 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| ispartof | Vehicle system dynamics, 2014-06, Vol.52 (6), p.802-823 |
| issn | 0042-3114 1744-5159 |
| language | eng |
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| source | Taylor & Francis Journals Complete |
| subjects | active safety autonomous vehicles Computer simulation Design engineering Grounds Invariants Mathematical models Nonlinearity Obstacles robust control robust nonlinear MPC uncertain dynamics vehicle safety Vehicles |
| title | A tube-based robust nonlinear predictive control approach to semiautonomous ground vehicles |
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