Paper Info
Title
Vehicle Tracking Control On Piecewise-Clothoidal Trajectories By Mpc With Guaranteed Error Bounds
Abstract
For control architectures of autonomous and semi-autonomous driving features, we design a vehicle steering controller with limited preview ensuring that the vehicle constraints are satisfied, and that any piecewise clothoidal trajectory, that is possibly generated by a path planner or supervisory algorithm and satisfies constraints on the desired yaw rate and the change of desired yaw rate, is tracked within a preassigned lateral error bound. The design is based on computing a non-maximal, yet polyhedral, robust control invariant (RCI) set for a system subject to bounded disturbances with state-dependent bounds, which also allows to determine the constraints describing the reference trajectories that can be followed. The RCI set is then enforced by model predictive control, where the cost function enforces additional objectives of the vehicle motion.
Year
Venue
Field
2016
2016 IEEE 55TH CONFERENCE ON DECISION AND CONTROL (CDC)
Control theory,Mathematical optimization,Control theory,Computer science,Model predictive control,Vehicle dynamics,Vehicle tracking system,Robust control,Trajectory,Yaw,Piecewise
DocType
ISSN
Citations 
Conference
0743-1546
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
S. Cairano124926.23
Uros V. Kalabic200.34
Karl Berntorp32616.30