LQR-MPC-Based Trajectory-Tracking Controller of Autonomous Vehicle Subject to Coupling Effects and Driving State Uncertainties

LQR-MPC-Based Trajectory-Tracking Controller of Autonomous Vehicle Subject to Coupling Effects and Driving State Uncertainties

This paper presents a lateral and longitudinal coupling controller for a trajectory-tracking control system. The proposed controller can simultaneously minimize lateral tracking deviation while tracking the desired trajectory and vehicle speed. Firstly, we propose a hierarchical control structure co...

Full description

Bibliographic Details
Main Authors: Tengfei Yuan, Rongchen Zhao
Format: Article
Language:English
Published: MDPI AG 2022-07-01
Series:Sensors
Subjects:
trajectory tracking
lateral and longitudinal coupling control
Extended Kalman Filter (EKF) observer
Online Access:https://www.mdpi.com/1424-8220/22/15/5556

Internet

https://www.mdpi.com/1424-8220/22/15/5556

Similar Items