Model predictive control in aerospace systems: Current state and opportunities
CONTROLLER design is more troublesome in aerospace systems due to, inter alia, diversity
of mission platforms, convoluted nonlinear dynamics, predominantly strict mission and …
of mission platforms, convoluted nonlinear dynamics, predominantly strict mission and …
Comparative study of autonomous path-following vehicle control via model predictive control and linear quadratic control
F Yakub, Y Mori - … of the Institution of Mechanical Engineers …, 2015 - journals.sagepub.com
This paper describes a comparative study of steering and yaw moment control manoeuvres
in the model predictive control and linear quadratic control approaches for path-following …
in the model predictive control and linear quadratic control approaches for path-following …
Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey
We review a range of techniques related to navigation of unmanned vehicles through
unknown environments with obstacles, especially those that rigorously ensure collision …
unknown environments with obstacles, especially those that rigorously ensure collision …
Lateral vehicle trajectory optimization using constrained linear time-varying MPC
B Gutjahr, L Gröll, M Werling - IEEE Transactions on Intelligent …, 2016 - ieeexplore.ieee.org
In this paper, a trajectory optimization algorithm is proposed, which formulates the lateral
vehicle guidance task along a reference curve as a constrained optimal control problem …
vehicle guidance task along a reference curve as a constrained optimal control problem …
Combined speed and steering control in high-speed autonomous ground vehicles for obstacle avoidance using model predictive control
This paper presents a model predictive control-based obstacle avoidance algorithm for
autonomous ground vehicles at high speed in unstructured environments. The novelty of the …
autonomous ground vehicles at high speed in unstructured environments. The novelty of the …
Lateral control of an autonomous vehicle using integrated backstepping and sliding mode controller
In this paper, a novel Lyapunov-based robust controller by using meta-heuristic optimization
algorithm has been proposed for lateral control of an autonomous vehicle. In the first step …
algorithm has been proposed for lateral control of an autonomous vehicle. In the first step …
A nonlinear model predictive control formulation for obstacle avoidance in high-speed autonomous ground vehicles in unstructured environments
This paper presents a nonlinear model predictive control (MPC) formulation for obstacle
avoidance in high-speed, large-size autono-mous ground vehicles (AGVs) with high centre …
avoidance in high-speed, large-size autono-mous ground vehicles (AGVs) with high centre …
A study on model fidelity for model predictive control-based obstacle avoidance in high-speed autonomous ground vehicles
This paper investigates the level of model fidelity needed in order for a model predictive
control (MPC)-based obstacle avoidance algorithm to be able to safely and quickly avoid …
control (MPC)-based obstacle avoidance algorithm to be able to safely and quickly avoid …
Safe navigation of a quadrotor UAV with uncertain dynamics and guaranteed collision avoidance using barrier Lyapunov function
In this paper, the safe autonomous motion control of a quadrotor Unmanned Aerial Vehicle
(UAV) is considered, in the presence of disturbance, stationary and moving obstacles. In this …
(UAV) is considered, in the presence of disturbance, stationary and moving obstacles. In this …
Fail-safe motion planning of autonomous vehicles
S Magdici, M Althoff - 2016 IEEE 19th International Conference …, 2016 - ieeexplore.ieee.org
Formally verified methods for motion planning are required in order to guarantee safety for
autonomous vehicles. In particular, we consider trajectory generation by considering the …
autonomous vehicles. In particular, we consider trajectory generation by considering the …