Interaction-aware Model Predictive Control for Autonomous Driving,Renzi Wang,Mathijs Schuurmans,Panagiotis Patrinos。文章采用了逻辑回归评估目标车辆意图,然后在目标车辆意图的分差上根据contingency …
控制量是acceleration 和steering angle. β是横向侧偏角 β=arctan(lrlr+lrtanδ) 使用欧拉法来离散化运动学模型 zk+1=f(zk,uk). 其他车辆的行为 其他车辆的行为从一个有限数量的行为集合中产生, P(zt)=(P{ξt=i∣zt})i∈Ξ, 假设按照上面概率随机产生其他车辆的行为 使用传统方法不能离线估计。
A model predictive interaction control (MPIC) scheme is introduced that deals both with the prediction of the robot motion and the forces between robot and environment. With regard to the robot motion, either the rigid body dynamics, a simplified model, or a cascaded control structure can be ...
Model Predictive Control (MPC) is a set of computer control algorithms which use a process model to predict the future response of a process. From: Computer Aided Chemical Engineering, 2011 About this pageAdd to MendeleySet alert Also in subject areas: ...
Model-Predictive Control (MPC) is advanced technology that optimizes the control and performance of business-critical production processes. So isControl Loop Performance Monitoring (CLPM)software. But if both help practitioners to optimize control loop performance, then what’s the difference?
Optimization in Model Predictive Control 来自 Springer 喜欢 0 阅读量: 29 作者: DQ Mayne 摘要: This paper explores the interaction between model predictive control and optimization. The success of model predictive control in controlling constrained linear systems is due, in large part, to the f关键...
Decentralized control in complex and uncertain multi-agent scenarios requires careful consideration of the interactions between the agents. In this context, this paper proposes a dual model predictive control (MPC) method using Gaussian process (GP) models for multi-agent systems. While Gaussian process...
The intuitive and simple ideas that support model predictive control (MPC) along with its capabilities have been the key to its success both in industry and academia. The contribution this paper makes is to further enhance the capabilities of MPC by easing its application to industrial batch proce...
With this, a model predictive controller is able to correct the parallax error for future positions of the user. We deduce the model's parameters from a user study on a large interactive whiteboard, in which we measured the 3D position of the user's viewpoint during common interaction tasks...
A mathematical model is constructed by taking the spacecraft and the gyroscopes together as an integrated system, with the coupling interaction between them considered. To overcome the singular issues of the VSCMGs due to the conventional torque-based method, the first-order derivative of gimbal ...