A tube-based robust nonlinear predictive control approach to semiautonomous ground vehicles

This paper proposes a robust control framework for lane-keeping and obstacle avoidance of semiautonomous ground vehicles. It presents a systematic way of enforcing robustness during the MPC design stage. A robust nonlinear model predictive controller (RNMPC) is used to help the driver navigating the...

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Bibliographic Details
Published inVehicle system dynamics Vol. 52; no. 6; pp. 802 - 823
Main Authors Gao, Yiqi, Gray, Andrew, Tseng, H. Eric, Borrelli, Francesco
Format Journal Article
LanguageEnglish
Published Taylor & Francis 03.06.2014
Subjects
active safety
autonomous vehicles
Computer simulation
Design engineering
Grounds
Invariants
Mathematical models
Nonlinearity
Obstacles
robust control
robust nonlinear MPC
uncertain dynamics
vehicle safety
Vehicles
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Summary:This paper proposes a robust control framework for lane-keeping and obstacle avoidance of semiautonomous ground vehicles. It presents a systematic way of enforcing robustness during the MPC design stage. A robust nonlinear model predictive controller (RNMPC) is used to help the driver navigating the vehicle in order to avoid obstacles and track the road centre line. A force-input nonlinear bicycle vehicle model is developed and used in the RNMPC control design. A robust invariant set is used in the RNMPC design to guarantee that state and input constraints are satisfied in the presence of disturbances and model error. Simulations and experiments on a vehicle show the effectiveness of the proposed framework.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0042-3114
1744-5159
DOI:10.1080/00423114.2014.902537