Cascade Predictive Control of an Autonomous Vehicle

被引：3

作者：

Raffo, Guilherme V. ^{[1
]}

Normey-Rico, Julio E. ^{[2
]}

Rubio, Francisco R. ^{[1
]}

Kelber, Christian R. ^{[3
]}

机构：

[1] Univ Seville, Dpto Ingn Sistemas & Automat, Escuela Tecn Super Ingenieros, Seville 41092, Spain

[2] Univ Fed Santa Catarina, Dpto Automacao & Sistemas, Ctr Tecnol CTC, BR-88040900 Florianopolis, SC, Brazil

[3] DHB Componentes Automotivos SA, BR-90200290 Porto Alegre, RS, Brazil

来源：

REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL | 2009年 / 6卷 / 01期

关键词：

Autonomous vehicle; predictive control; path following; side-slip control;

D O I：

10.1016/S1697-7912(09)70077-9

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the design of a predictive controller based oil lateral and longitudinal dynamics model of ail autonomous vehicle. The proposed controller implements by means of a cascade structure with the vehicle kinematics control to obtain the benefits wished at high speeds for the path following problem. A decentralized predictive controller based on the linearized dynamic model of the vehicle is used. Experimental results obtained by using the kinematic controller and simulation results using the proposed cascade controller are shown to corroborate the theoretical analysis. Copyright (C) 2009 CEA.

引用

页码：63 / +

页数：13

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