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

• Published in: Vehicle system dynamics Vol. 52; no. 6; pp. 802 - 823
• Main Authors: Gao, Yiqi, Gray, Andrew, Tseng, H. Eric, Borrelli, Francesco
• Format: Journal Article
• Language: English
• 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

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...