Robust Tube-Based Model Predictive Control for Autonomous Vehicle Path Tracking

Robust Tube-Based Model Predictive Control for Autonomous Vehicle Path Tracking

In real-world driving scenarios, the model mismatch can severely impair the robustness of the tracking system controlled by Model Predictive Control (MPC). Tube-based MPC (TMPC) addresses this problem by keeping the model mismatch error in an invariant tube. The TMPC algorithms, however, cannot deal...

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Bibliographic Details
Main Authors: Kangle Hu, Kai Cheng
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Autonomous vehicles
immersion and invariance (I&I)
path tracking
robustness
state-dependent uncertainty
tube model predictive control
Online Access:https://ieeexplore.ieee.org/document/9996401/

Internet

https://ieeexplore.ieee.org/document/9996401/

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