Cascade Predictive Control of an Autonomous Vehicle

被引：3
|
作者：
Raffo, Guilherme V. [1 ]
Normey-Rico, Julio E. [2 ]
Rubio, Francisco R. [1 ]
Kelber, Christian R. [3 ]
机构：
[1] Univ Seville, Dpto Ingn Sistemas & Automat, Escuela Tecn Super Ingenieros, Seville 41092, Spain
[2] Univ Fed Santa Catarina, Dpto Automacao & Sistemas, Ctr Tecnol CTC, BR-88040900 Florianopolis, SC, Brazil
[3] DHB Componentes Automotivos SA, BR-90200290 Porto Alegre, RS, Brazil
来源：
REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL | 2009年 / 6卷 / 01期
关键词：
Autonomous vehicle; predictive control; path following; side-slip control;
D O I：
10.1016/S1697-7912(09)70077-9
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the design of a predictive controller based oil lateral and longitudinal dynamics model of ail autonomous vehicle. The proposed controller implements by means of a cascade structure with the vehicle kinematics control to obtain the benefits wished at high speeds for the path following problem. A decentralized predictive controller based on the linearized dynamic model of the vehicle is used. Experimental results obtained by using the kinematic controller and simulation results using the proposed cascade controller are shown to corroborate the theoretical analysis. Copyright (C) 2009 CEA.
引用
收藏
页码：63 / +
页数：13
相关论文
共 50 条
  • [41] Research on Dynamic Modeling and Predictive Control of Portable Autonomous Underwater Vehicle
    Zeng, Junbao
    Li, Shuo
    Li, Yiping
    Liu, Xinyu
    Wang, Xiaohui
    Liu, Jian
    OCEANS 2017 - ANCHORAGE, 2017,
  • [42] Path Following Model Predictive Control of a Coupled Autonomous Underwater Vehicle
    Jimoh, Isah A.
    Yue, Hong
    IFAC PAPERSONLINE, 2024, 58 (20): : 183 - 188
  • [43] Lateral Model Predictive Control for Over-Actuated Autonomous Vehicle
    Pereira, Goncalo Collares
    Svensson, Lars
    Lima, Pedro F.
    Martensson, Jonas
    2017 28TH IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV 2017), 2017, : 310 - 316
  • [44] Predictive Control of an Autonomous Ground Vehicle using an Iterative Linearization Approach
    Carvalho, Ashwin
    Gao, Yiqi
    Gray, Andrew
    Tseng, H. Eric
    Borrelli, Francesco
    2013 16TH INTERNATIONAL IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS - (ITSC), 2013, : 2335 - 2340
  • [45] Nonlinear Model Predictive Control for Autonomous Underwater Vehicle Trajectory Tracking
    Fontaine, Anne-Flor
    Zhu, Danjie
    Chen, Nuo
    Pan, Ya-Jun
    2023 IEEE 2ND INDUSTRIAL ELECTRONICS SOCIETY ANNUAL ON-LINE CONFERENCE, ONCON, 2023,
  • [46] Enhancing Reduced Order Model Predictive Control for Autonomous Underwater Vehicle
    Bhopale, Prashant
    Bajaria, Pratik
    Singh, Navdeep
    Kazi, Faruk
    ADVANCED COMPUTATIONAL METHODS FOR KNOWLEDGE ENGINEERING, ICCSAMA 2017, 2018, 629 : 60 - 71
  • [47] Neural Network Predictive Control for Autonomous Underwater Vehicle with Input Delay
    Zhao, Jiemei
    JOURNAL OF CONTROL SCIENCE AND ENGINEERING, 2018, 2018
  • [48] Constrained Generalized Predictive Control for Propulsion Motor of Autonomous Underwater Vehicle
    Yao Xuliang
    Yang Guangyi
    FOURTH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND INFORMATION SCIENCES (CCAIS 2015), 2015, : 366 - 371
  • [49] Model predictive control of a hybrid autonomous underwater vehicle with experimental verification
    Steenson, Leo V.
    Turnock, Stephen R.
    Phillips, Alexander B.
    Harris, Catherine
    Furlong, Maaten E.
    Rogers, Eric
    Wang, Liuping
    Bodles, Kenneth
    Evans, Derek W.
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART M-JOURNAL OF ENGINEERING FOR THE MARITIME ENVIRONMENT, 2014, 228 (02) : 166 - 179
  • [50] Stochastic Model Predictive Control Approach to Autonomous Vehicle Lane Keeping
    Zhang C.
    Zhuang C.
    Zheng X.
    Cai R.
    Li M.
    Journal of Shanghai Jiaotong University (Science), 2021, 26 (05) : 626 - 633
12345