相关论文: Nonlinear Model Predictive Control for Preview-Bas…
This paper addresses the trajectory-tracking problem under uncertain road-surface conditions for autonomous vehicles. We propose a stochastic nonlinear model predictive controller (SNMPC) that learns a tire--road friction model online using…
Path tracking (PT) controllers capable of replicating race driving techniques, such as drifting beyond the limits of handling, have the potential of enhancing active safety in critical conditions. This paper presents a nonlinear model…
Reverse parking maneuvers of a vehicle with trailer system is a challenging task to complete for human drivers due to the unstable nature of the system and unintuitive controls required to orientate the trailer properly. This paper hence…
This paper introduces a novel nonlinear model predictive control (NMPC) framework that incorporates a lifting technique to enhance control performance for nonlinear systems. While the lifting technique has been widely employed in linear…
This paper considers an application of model predictive control to automotive air conditioning (A/C) system in future connected and automated vehicles (CAVs) with battery electric or hybrid electric powertrains. A control-oriented…
We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…
Fuel efficiency is a crucial aspect of long-distance cargo transportation by oil-powered trucks that economize on costs and decrease carbon emissions. Current predictive control methods depend on an accurate model of vehicle dynamics and…
A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy…
This paper proposes a non-linear Model Predictive Contouring Control (MPCC) for obstacle avoidance in automated vehicles driven at the limit of handling. The proposed controller integrates motion planning, path tracking and vehicle…
This work presents a novel Nonlinear Model Predictive Control (NMPC) strategy for high-speed Maglev vehicles that explicitly incorporates mechanical suspension dynamics into the control model. Unlike conventional approaches, which often…
We present a versatile nonlinear model predictive control (NMPC) formulation for quadrupedal locomotion. Our formulation jointly optimizes a base trajectory and a set of footholds over a finite time horizon based on simplified dynamics…
Recent efforts in the development of autonomous driving technology have induced great advancements in perception, planning and control systems. Model predictive control is one of the most popular advanced control methods, but its…
The ability to reliably maximize tire force usage would improve the safety of autonomous vehicles, especially in challenging edge cases. However, vehicle control near the limits of handling has many challenges, including robustly contending…
MPC (Model Predictive Control) techniques, with constraints, are applied to a nonlinear vehicle model for the development of an ACC (Adaptive Cruise Control) system for transitional manoeuvres. The dynamic model of the vehicle is developed…
A Nonlinear Model Predictive Control (NMPC) strategy aimed at controlling a small-scale car model for autonomous racing competitions is presented in this paper. The proposed control strategy is concerned with minimizing the lap time while…
This paper presents a longitudinal slip control system for a rear-wheel-driven electric endurance race car. The control system integrates Model Predictive Control (MPC) with Extremum Seeking Control (ESC) to optimize the traction and…
In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference…
Model predictive control (MPC) anticipates future events to take appropriate control actions. Nonlinear MPC (NMPC) describes systems with nonlinear models and/or constraints. A Continuation/GMRES Method for NMPC, suggested by T. Ohtsuka in…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linearisation method is…