Linear time varying model based model predictive control for lateral path tracking

被引：13

作者：

Mata, Sara ^{[1
]}

Zubizarreta, Asier ^{[1
]}

Cabanes, Itziar ^{[1
]}

Nieva, Ione ^{[2
]}

Pinto, Charles ^{[2
]}

机构：

[1] Univ Basque Country, UPV EHU, Dept Automat & Syst Engn, Fac Engn Bilbao, Plaza Ing Torres Quevedo, Bilbao 48013, Spain

[2] Univ Basque Country, UPV EHU, Dept Mech Engn, Plaza Ing Torres Quevedo, Bilbao 48013, Spain

来源：

INTERNATIONAL JOURNAL OF VEHICLE DESIGN | 2017年 / 75卷 / 1-4期

关键词：

MPC; model predictive control; LTV model; linear time varying model; lateral dynamics; path following; active safety; VEHICLE; SYSTEM;

D O I：

10.1504/IJVD.2018.10011992

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a path following application for vehicles based on a model predictive control (MPC) approach with a linear time varying (LTV) model. The control system is designed to guarantee proper path tracking under certain comfort standards and for a wide range of velocities and traces. Therefore, not only lateral error is considered, but also orientation error to the target trajectory. Additionally, strict constraints are considered in the control signal, in its variation and in the lateral path following error. Stability of the proposed controller is guaranteed using terminal cost and constraint approaches.

引用

页码：1 / 22

页数：22

共 23 条

[1] Vision-based intelligent vehicles: State of the art and perspectives [J].