On Low Complexity Predictive Approaches to Control of Autonomous Vehicles
Book chapter, 2009
In this paper we present low complexity predictive approaches to the
control of autonomous vehicles. A general hierarchical architecture for fully autonomous
vehicle guidance systems is presented together with a review of two control
design paradigms. Our review emphasizes the trade off between performance
and computational complexity at different control levels of the architecture. In particular,
experimental results are presented, showing that if the controller at the lower
level is properly designed, then it can handle system nonlinearities and model uncertainties
even if those are not taken into account at the higher level.
Model Predictive Control
Stability Control Systems
Vehicle Dynamics Control
Author
Paolo Falcone
Chalmers, Signals and Systems, Systems and control
Francesco Borrelli
H. Eric Tseng
Davor Hrovat
Automotive Model Predictive Control: Models, Methods and Applications, Linz, Austria, 2009, Springer-Verlag.
Subject Categories
Vehicle Engineering
Control Engineering