In this work, a novel approach is presented to solve the trajectory tracking problem for autonomous vehicles. This method is based on the use of a cascade control where the external loop solves the position control using a novel Linear Parameter Varying - Model Predictive Control (LPV-MPC) ...
In this work, a novel approach is presented to solve the trajectory tracking problem for autonomous vehicles. This method is based on the use of a cascade control where the external loop solves the position control using a novel Linear Parameter Varying - Model Predictive Control (LPV-MPC) appr...
This is the implementation of the work done in Optimized self-adaptive PID speed control for autonomous vehicles paper.
Note that recent comprehensive surveys on some mainstream techniques for path following control of autonomous vehicles, including pure pursuit, feedback linearization, MPC control, and many others, can be also found in [15], [16]. Notation IN denotes the set 1,2,…,N. R is the field of ...
MPCAutonomous vehiclesSelf driving carsIn this work, a novel approach is presented to solve the trajectory tracking problem for autonomous vehicles. This method is based on the use of a cascade control where the external loop solves the position control using a novel Linear Parameter Varying - ...
Attitude control,Mathematical model,Vehicle dynamics,Propellers,Rotors,Unmanned aerial vehicles,AerodynamicsThis work proposes the use of the LPV MPC approach for the position-heading control problem of a small quadrotor. The use of a LPV representation of the attitude subsystem allows to consider it ...
For instance, a health-aware control based on the remaining useful life estimation of a battery has been designed for an autonomous racing vehicle assuming that the input/output limits are constant [13]. The same assumption holds for [14], where a model predictive control (MPC) algorithm has...
Autonomous vehicleMPCLPVAutonomous racingSelf-drivingThis article presents an innovative control approach for autonomous racing vehicles. Linear Parameter Varying (LPV) theory is used to model the dynamics of the vehicle and implement an LPV-Model Predictive Controller (LPV-MPC) that can be computed ...
Autonomous Underwater VehicleA path planning algorithm for an Autonomous Underwater Vehicle (AUV) performing docking operations in the presence of tidal current disturbances is presented. The path planner is composed a way-point generator (WPG), an Model Predictive Control ba...
LPV-MPC control for autonomous vehicles. IFAC-PapersOnLine 2019, 52, 106–113. [Google Scholar] [CrossRef] Johansson, R. Model-Based Predictive and Adaptive Control; KFS Studentbokhandel: Lund, Sweden, 2020. [Google Scholar] Cerone, V.; Piga, D.; Regruto, D. Set-membership LPV model ...