On Low Complexity Predictive Approaches to Control of Autonomous Vehicles
Kapitel i bok, 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

Författare

Paolo Falcone

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Francesco Borrelli

H. Eric Tseng

Davor Hrovat

Ämneskategorier

Farkostteknik

Reglerteknik