Title :
Autonomous vehicle steering using explicit LPV-MPC
Author :
Besselmann, Thomas ; Morari, Manfred
Author_Institution :
Autom. Control Lab., ETH Zurich, Zurich, Switzerland
Abstract :
In this paper a novel control approach for Active Steering of automotives is presented. Explicit LPV-MPC is employed to derive a controller which requires only little online computations. The achieved control performance is compared to nonlinear MPC and explicit linear MPC in a double lane-change maneuver at different driving speeds.
Keywords :
automobiles; linear parameter varying systems; nonlinear control systems; predictive control; steering systems; active automotive steering; autonomous vehicle steering; control approach; control performance; double lane-change maneuver; driving speeds; explicit LPV-MPC; explicit linear MPC; linear parameter-varying systems; model predictive control; nonlinear MPC; Approximation methods; Computational modeling; Force; Roads; Tires; Vehicle dynamics; Vehicles;
Conference_Titel :
Control Conference (ECC), 2009 European
Conference_Location :
Budapest
Print_ISBN :
978-3-9524173-9-3
