Nonlinear Model Predictive Control with Terminal Cost for Autonomous Vehicles Trajectory Follow

Nonlinear Model Predictive Control with Terminal Cost for Autonomous Vehicles Trajectory Follow

This paper presents a nonlinear model predictive control with terminal cost (NMPC–WTC) algorithm and its open/closed-loop system analysis and simulation validation for accurate and stable path tracking of autonomous vehicles. The path tracking issue is formulated as an optimal control problem. In or...

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Bibliographic Details
Main Authors: Jinrui Nan, Xucheng Ye, Wanke Cao
Format: Article
Language:English
Published: MDPI AG 2022-11-01
Series:Applied Sciences
Subjects:
terminal cost
nonlinear model predictive control
path tracking
Online Access:https://www.mdpi.com/2076-3417/12/22/11359

Internet

https://www.mdpi.com/2076-3417/12/22/11359

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