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.
A tube-based robust nonlinear predictive control approach to semiautonomous ground vehicles
Vehicle System Dynamics ; 52 , 6 ; 802-823
2014-06-03
22 pages
Article (Journal)
Electronic Resource
English
A tube-based robust nonlinear predictive control approach to semiautonomous ground vehicles
Online Contents | 2014
|A tube-based robust nonlinear predictive control approach to semiautonomous ground vehicles
Automotive engineering | 2014
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