自主驾驶技术是近年来人工智能领域的研究热点,其核心在于车辆的运动控制。本文提出了一种基于遗传算法优化神经网络的自适应 LPV-MPC 控制器,用于实现自主驾驶。该控制器利用遗传算法优化神经网络,自适应地学习车辆的动力学模型,并基于 LPV-MPC 算法进行运动控制。仿真结果表明,该控制器能够有效地控制车辆在不同工况下的...
基于MPC-LPV线性变参数(LPV)和模型预测MPC的UAV四旋翼无人机3D轨迹跟踪1.将线性变参数(LPV)和MPC方法应用于UAV中,实现UAV无人机3D轨迹跟踪。2.控制器外环由位置控制器(状态反馈线性化)、内环姿态控制器由(LPV-MPC) 组成,动态响应更快。3.有参考文献,代码有详细注释
The quantification of the level of faults in the energy system is provided by an extended-state LPV fault estimation observer that works in parallel to the MPC. The proposed EMS, that acts at an hourly rate, finds time-varying control policies, that are passed as energy-generation set-points...
Fast Zonotope-Tube-based LPV-MPC for Autonomous Vehicles In this paper, we present an effective online tube-based model predictive control (T-MPC) solution for autonomous driving that aims at improving the computational load while ensuring robust stability and performance in fast and disturbed... ...
Simulations results for the half-car active suspension model over a typical road disturbance are tested to show the effectiveness of the proposed MPC-LQR-LPV controller with quadratic stability conditions in terms of comfort and road-holding. Keywords: half-car active suspension; hydraulic suspension;...
4. LPV-MPC Controller To develop a MPC scheme for LPV models, the future states need to be formulated so a trajectory can be formed along the prediction horizon. The i-steps-ahead prediction can be structured as the following: 𝐱(𝑘+𝑖|𝑘)= ⎜⎜⎜∏𝑗=0𝑖−1𝐀...
Explicit LPV-MPC with Bounded Rate of Parameter Variation Recently it was shown how one can reformulate the MPC problem for LPV systems to a series of mpLPs by a closed-loop minimax MPC algorithm based on dynamic ... T Besselmann,J Löfberg,M Morari - 《Ifac Proceedings Volumes》 被引...
针对一类输入和输出受约束且具有多胞结构的离散LPV 系统, 提出一种基于多面体不变集的鲁棒模型预测控制(RMPC) 算法. 选取一系列收敛于原点的离散状态点, 计算每个状态的反馈控制率, 构建相应的多面体不变集. 在每一个采样时刻, 确定包含当前状态的最小多面体不变集, 通过计算与相邻两个多面体不变集的位置关系, ...
MPC for LPV systems with bounded parameter variations 来自 Taylor & Francis 喜欢 0 阅读量: 70 作者: Jungers, Marc, Oliveira, Ricardo C.L.F., Peres, Pedro L.D.摘要: This article deals with the model predictive control (MPC) design problem for systems which are linearly dependent on a ...
http://users.isy.liu.se/johanl/y ... xamples.LPVMPCHenon http://pan.baidu.com/s/1ntmLl2L...