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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    Title :

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


    Contributors:

    Published in:

    Vehicle System Dynamics ; 52 , 6 ; 802-823


    Publication date :

    2014-06-03


    Size :

    22 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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