Fast zonotope-tube-based LPV-MPC for autonomous vehicles
DOI10.1049/iet-cta.2020.0562zbMATH Open1542.93087MaRDI QIDQ6611618
Joseba Quevedo, Eugenio Alcalá, Vicenç Puig, Olivier Sename
Publication date: 26 September 2024
Published in: IET Control Theory \& Applications (Search for Journal in Brave)
uncertain systemslinear systemstime-varying systemsrobust stabilityrobust controlvehicle dynamicsnonlinear control systemspredictive controlroad vehiclesexternal disturbancesautonomous vehiclescomputational timeclosed loop systemslinear quadratic controlcontrol system synthesisnominal controllerautonomous drivingcomputational loadlinear parameterreduced computational costaccurate reachable setsaccurate vehicle representationcorrective local controllerdisturbance-uncertaintydisturbed fast driving scenarioeffective online tube-based model predictive controllocal controller performanceLPV vehicle modelnonlinear original problemnonlinear vehicle equationspolytopic LPV-Hpseudolinear problemstrong exogenous disturbances
Nonlinear systems in control theory (93C10) Linear systems in control theory (93C05) Linear-quadratic optimal control problems (49N10) Model predictive control (93B45)
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