Title :
Nonlinear model predictive control of autonomous vehicle steering
Author :
Razvan C. Rafaila;Gheorghe Livint
Abstract :
In this paper the purpose is to present a nonlinear model based predictive control of autonomous steering for the ground vehicles. The vehicle lateral dynamics mathematical model including the most important nonlinearities such as lateral tire forces, the optimal control problem and the steering control system are described. Simulation results show that this approach could provide good performances in practical applications.
Keywords :
"Vehicles","Mathematical model","Predictive models","Optimal control","Prediction algorithms","Tires","Cost function"
Conference_Titel :
System Theory, Control and Computing (ICSTCC), 2015 19th International Conference on
DOI :
10.1109/ICSTCC.2015.7321337
