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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    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


    Size :

    22 Seiten, 20 Bilder, 2 Tabellen, 25 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





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

    Gao, Yiqi / Gray, Andrew / Tseng, H. Eric et al. | Taylor & Francis Verlag | 2014


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

    Gao,Y. / Gray,A. / Tseng,H.E. et al. | Automotive engineering | 2014


    NAVIGATION TECHNIQUES FOR AUTONOMOUS AND SEMIAUTONOMOUS VEHICLES

    WEISSMAN HAIM MENDEL / MIMRAN ARIK | European Patent Office | 2019

    Free access

    Semiautonomous vehicle control system

    LEVASSEUR TELLIS / SARRA AWAD YAKO / GERALD H ENGELMAN | European Patent Office | 2018

    Free access