.png){kind=icon}
返回
Tracking Control Based on Model Predictive Control Using Laguerre Functions With Pole Optimization
.png){kind=icon}
PRE
AI
DOI：10.1109/TITS.2022.3179613.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
This paper focused on improving a model predictive control (MPC) using Laguerre functions. This study was conducted to achieve high performance while reducing the computational complexity of MPC for autonomous vehicle tracking control. Previous studies have used a conventional linear time-varying MPC (LTV-CMPC) for the linear time-varying (LTV) vehicle model. For LTV-CMPC, the computational complexity increases exponentially as a predictive horizon and control horizon increase. Real-time implementation of LTV-CMPC with long horizons was difficult due to limited computational resources. For reducing computational complexity, we proposed LTV-MPC using Laguerre functions (LTV-LMPC). Considering the vehicle system, LTV-LMPC used a non-augmented model and described the input rate as Laguerre functions. The proposed LTV-LMPC significantly reduced the number of optimization variables. The number of Laguerre functions and the Laguerre pole determined the performance of the LTV-LMPC. In this study, we derived and proved propositions for analyzing the performance change of LTV-LMPC according to the Laguerre pole. LTV-LMPC with pole optimization (LTV-OLMPC) was proposed based on these propositions. The performance of the proposed algorithm was verified by simulation. The LTV-OLMPC guarantees low computational complexity and high performance.
Keyword:
Computational modeling
Tires
Bicycles
Vehicle dynamics
Prediction algorithms
Predictive models
Predictive control
Autonomous vehicle
Laguerre function
Laguerre pole optimization
model predictive control (MPC)
tracking control
期刊
IF:
8.4
论文数:
9.7K
被引数:
6.3W
机构
暂无机构信息
引用论文
Range policy of adaptive cruise control vehicles for improved flow stability and string stability
PREAI
分享收藏分享收藏Modelling and Control Strategies in Path Tracking Control for Autonomous Ground Vehicles: A Review of State of the Art and Challenges自主地面车辆路径跟踪控制中的建模和控制策略: 最新技术和挑战的回顾
PREAI
分享收藏Autonomous racing using Linear Parameter Varying-Model Predictive Control (LPV-MPC)使用线性参数变化模型预测控制 (lpv-mpc) 的自主赛车
OAAI
OAAI分享收藏Local Path Planning for Off-oad Autonomous Driving With Avoidance of Static Obstacles避免静态障碍物的非自主驾驶的局部路径规划
PREAI
分享收藏Electrical Vehicle Path Tracking Based Model Predictive Control With a Laguerre Function and Exponential Weight.png)
IEEE ACCESS
OAAI
IEEE ACCESSIF3.6
OAAI分享收藏
查看更多内容