Bounded iteration for multiple box constraints on linear complementarity model predictive control and its application to vehicle steering control

This paper presents linear model predictive control (MPC) for multiple kinds of constraint based on the linear complementarity problem (LCP) that gives the explicit upper bound of computational complexity. MPC generally solves constrained optimization problems. Its computational time should be stric...

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Veröffentlicht in:	SICE Journal of Control, Measurement, and System Integration Measurement, and System Integration, 2023-12, Vol.16 (1), p.237-246
Hauptverfasser:	Kawaguchi, Naoto, Okawa, Isao, Nonaka, Kenichiro
Format:	Artikel
Sprache:	eng
Schlagworte:	Optimal control optimization problems quadratic programing real-time systems self-driving
Online-Zugang:	Volltext
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