期刊
VEHICLE SYSTEM DYNAMICS
卷 52, 期 6, 页码 802-823出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00423114.2014.902537
关键词
vehicle safety; uncertain dynamics; robust control; active safety; autonomous vehicles; robust nonlinear MPC
资金
- National Science Foundation [1239323]
- Direct For Computer & Info Scie & Enginr [1239323] Funding Source: National Science Foundation
- Division Of Computer and Network Systems [1239323] Funding Source: National Science Foundation
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.
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