A tube-based robust nonlinear predictive control approach to semiautonomous ground vehicles
Abstract
This paper proposes a robust control framework for lane-keeping and obstacle avoidance of semiautonomous ground vehicles. It presents a systematic way of enforcing robustness during the MPC design stage. A robust nonlinear model predictive controller (RNMPC) is used to help the driver navigating the vehicle in order to avoid obstacles and track the road centre line. A force-input nonlinear bicycle vehicle model is developed and used in the RNMPC...
Paper Details
Title
A tube-based robust nonlinear predictive control approach to semiautonomous ground vehicles
Published Date
Apr 8, 2014
Journal
Volume
52
Issue
6
Pages
802 - 823
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