Journal
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
Volume 4, Issue 4, Pages 569-577Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIV.2019.2938102
Keywords
Robust control; tube-based control; model predictive control; MPC; lateral tracking; active safet
Categories
Funding
- Basque Government [BFI-2012-223, IT1381-19]
- UPV/EHU [GIU18/162]
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This paper presents a path following application for vehicles based on a simple linear and time invariant single-track model, which is calculated based on a constant nominal longitudinal speed. In order to consider the differences in vehicle dynamics between the real vehicle and this constant nominal model, a tube-based robust Model Predictive Control (MPC) approach is introduced. The proposed control algorithm is designed in order to guarantee proper path tracking, not only considering lateral error, but also orientation error to the target trajectory. Additionally, strict constraints are considered in the control signal and the lateral path following error. The control approach is designed in order to guarantee certain comfort standards for a wide range of velocities, with guaranteed stability.
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