From linear to nonlinear MPC: bridging the gap via the real-time iteration
Linear model predictive control (MPC) can be currently deployed at outstanding speeds,
thanks to recent progress in algorithms for solving online the underlying structured quadratic …
thanks to recent progress in algorithms for solving online the underlying structured quadratic …
Development of a genetic-algorithm-based nonlinear model predictive control scheme on velocity and steering of autonomous vehicles
X Du, KKK Htet, KK Tan - IEEE Transactions on Industrial …, 2016 - ieeexplore.ieee.org
Model predictive controller (MPC) has demonstrated its competency in controlling
autonomous vehicles. But to apply the current MPC-based schemes, it has to be formulated …
autonomous vehicles. But to apply the current MPC-based schemes, it has to be formulated …
Towards time-optimal race car driving using nonlinear MPC in real-time
R Verschueren, S De Bruyne, M Zanon… - … IEEE conference on …, 2014 - ieeexplore.ieee.org
This paper addresses the real-time control of autonomous vehicles under a minimum
traveling time objective. Control inputs for the vehicle are computed from a nonlinear model …
traveling time objective. Control inputs for the vehicle are computed from a nonlinear model …
Control strategies for autonomous vehicles
This chapter focuses on self-driving technology from a control perspective and investigates
the control strategies used in autonomous vehicles and advanced driver-assistance systems …
the control strategies used in autonomous vehicles and advanced driver-assistance systems …
Torque vectoring for high-performance electric vehicles: an efficient MPC calibration
A Lucchini, S Formentin, M Corno… - IEEE Control …, 2020 - ieeexplore.ieee.org
In electric vehicles with in-wheel motors, torque vectoring is an effective technology to reach
high-level performance in sport driving conditions. To vary the torque at each wheel while …
high-level performance in sport driving conditions. To vary the torque at each wheel while …
Cross-layer design for secure and resilient cyber-physical systems
This book presents control and game-theoretic tools to design secure and resilient cyber-
physical systems, including cloud-enabled control systems, 3D printers, robotic systems, and …
physical systems, including cloud-enabled control systems, 3D printers, robotic systems, and …
Dual online stein variational inference for control and dynamics
Model predictive control (MPC) schemes have a proven track record for delivering
aggressive and robust performance in many challenging control tasks, coping with nonlinear …
aggressive and robust performance in many challenging control tasks, coping with nonlinear …
Embedded optimization algorithms for steering in autonomous vehicles based on nonlinear model predictive control
R Quirynen, K Berntorp… - 2018 Annual American …, 2018 - ieeexplore.ieee.org
Steering control for autonomous vehicles on slippery road conditions, such as on snow or
ice, results in a highly nonlinear and therefore challenging online control problem, for which …
ice, results in a highly nonlinear and therefore challenging online control problem, for which …
Robust adaptive learning-based path tracking control of autonomous vehicles under uncertain driving environments
This paper investigates the path tracking control problem of autonomous vehicles subject to
modelling uncertainties and external disturbances. The problem is approached by …
modelling uncertainties and external disturbances. The problem is approached by …
The path following of intelligent unmanned vehicle scheme based on adaptive sliding mode-model predictive control
S Zhang, A Shen, X Luo, Q Tang, Z Li - Journal of the Franklin Institute, 2023 - Elsevier
An adaptive sliding mode-model predictive control for the path following of intelligent
unmanned vehicle is given in this paper. On account of excellent performances of the sliding …
unmanned vehicle is given in this paper. On account of excellent performances of the sliding …