[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

Abbas, 2011 - Google Patents

Non-linear model predictive control for autonomous vehicles

Abbas, 2011

View PDF
Document ID
774235552207220277
Author
Abbas M
Publication year

External Links

Snippet

Abstract<? Pub Inc> With the advent of faster computer processors and better optimization algorithms, Model Predictive Control (MPC) systems are more readily used for real-time applications. This research focuses on the application of MPC to trajectory generation of …
Continue reading at central.bac-lac.gc.ca (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0044—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0295—Fleet control by at least one leading vehicle of the fleet
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06F—ELECTRICAL DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/50—Computer-aided design

Similar Documents

Publication Publication Date Title
Abbas Non-linear model predictive control for autonomous vehicles
Abbas et al. Obstacle avoidance in real time with nonlinear model predictive control of autonomous vehicles
Brown et al. Coordinating tire forces to avoid obstacles using nonlinear model predictive control
Xu et al. Design, analysis, and experiments of preview path tracking control for autonomous vehicles
Cutler et al. Autonomous drifting using simulation-aided reinforcement learning
Kuwata et al. Real-time motion planning with applications to autonomous urban driving
Kapania et al. Path tracking of highly dynamic autonomous vehicle trajectories via iterative learning control
Rochefort et al. Model predictive control of cooperative vehicles using systematic search approach
Kapania et al. Learning at the racetrack: Data-driven methods to improve racing performance over multiple laps
Petersen et al. Model predictive control and extended command governor for improving robustness of relative motion guidance and control
Kapania Trajectory planning and control for an autonomous race vehicle
Keivan et al. Realtime simulation-in-the-loop control for agile ground vehicles
Gao et al. Dubins path‐based dynamic soaring trajectory planning and tracking control in a gradient wind field
Filip Trajectory tracking for autonomous vehicles
Pravitra et al. Flying complex maneuvers with model predictive path integral control
Li et al. Trajectory-tracking controller for vehicles on inclined road based on Udwadia–Kalaba equation
Abbas et al. Real-time analysis for nonlinear model predictive control of autonomous vehicles
Vörös et al. Lane keeping control using finite spectrum assignment with modeling errors
Kanarachos Design of an intelligent feed forward controller system for vehicle obstacle avoidance using neural networks
Raemaekers Design of a model predictive controller to control UAVs
Wang et al. Optimal 3-dimension trajectory-tracking guidance for reusable launch vehicle based on back-stepping adaptive dynamic programming
Olsson Model complexity and coupling of longitudinal and lateral control in autonomous vehicles using model predictive control
Saputro et al. Design and implementation of trajectory tracking motion in mobile robot skid steering using model predictive control
Wang Control system design for autonomous vehicle path following and collision avoidance
Naya et al. Real-time multi-body formulation for virtual-reality-based design and evaluation of automobile controllers