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Summary & Details

Low Complexity MPC Schemes for Integrated Vehicle Dynamics Control Problems

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Format: PDF

Price: Non-members (tax incl.)：￥1,100 Members (tax incl.)：￥880

Publication code: 20080545

Paper/Info type: AVEC

Pages: 1-6(Total 6 p)

Date of publication: Oct 2008

Publisher: Others, Unknown

Language: English

Event: AVEC '08

Detailed Information

Category(E)	Integrated Control II
Author(E)	1) P. Falcone, 2) F. Borrelli, 3) H. E. Tseng, 4) J. Asgari, 5) D. Hrovat
Affiliation(E)	1) Chalmers Univ. of Tech., 2) U. C. Berkeley, 3) Ford Research Labs., 4) Ford Research Labs., 5) Ford Research Labs.
Abstract(J)	連結ステアリングと独立ブレーキによる自律経路追従のための，低複雑度のモデル予測制御(MPC)を紹介する.縦方向力学のモデリングを改善し，最適化変数の種類を増やすことにより，以前の取組みに比べ性能を大幅に向上させた.性能向上の度合いを評価するために，シミュレーションと以前の結果の比較を行った.実験結果についても述べる. Translation
Abstract(E)	A low complexity Model Predictive Control (MPC) approach to the problem of autonomous path following via combined steering and independent braking is presented in this paper. We start from the simpler approach in [5] and significantly improve the performance by better modeling the longitudinal dynamics and slightly increasing the number of optimization variables, i.e., the computational complexity. In order to assess the performance improvement, simulations are presented and compared against the results of the simpler approach in [5]. Moreover, experimental results are shown and discussed.

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