Essays about: "LTV-MPC Linear Time-Varying Model Predictive Controller"

Found 3 essays containing the words LTV-MPC Linear Time-Varying Model Predictive Controller.

  1. 1. Control of an Over-Actuated Vehicle for Autonomous Driving and Energy Optimization : Development of a cascade controller to solve the control allocation problem in real-time on an autonomous driving vehicle

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Gianmarco Grandi; [2023]
    Keywords : LTV-MPC Linear Time-Varying Model Predictive Controller ; Trajectory following; Energy consumption; Vehicle stability; Vehicle model; Real-time performance; LTV-MPC Controllo a predizione del modello lineare tempo variabile ; Inseguimento di traiettoria; Consumo energetico; Stabilità del veicolo; Modello del veicolo; Prestazioni in tempo reale; LTV-MPC Linjär tidsvariabel modellförutsägande styrning ; spårföljning; energiförbrukning; fordonsstabilitet; fordonsmodell; prestanda i realtid;

    Abstract : An Over-Actuated (OA) vehicle is a system that presents more control variables than degrees of freedom. Therefore, more than one configuration of the control input can drive the system to a desired state in the state space, and this redundancy can be exploited to fulfill other tasks or solve further problems. READ MORE

  3. 2. Model Predictive Control for Autonomous Driving of a Truck

    University essay from KTH/Skolan för elektro- och systemteknik (EES)

    Author : Mia Isaksson Palmqvist; [2016]
    Keywords : ;

    Abstract : Platooning and cooperative driving can decrease the emissions of greenhouse gases and increase the traffic capacity of the roads. The Grand Cooperative Driving Challenge, GCDC, is a competition that will be held in May 2016 focusing on cooperative driving. A cornerstone in the cooperative driving is autonomous driving. READ MORE

  4. 3. Model Complexity and Coupling of Longitudinal and Lateral Control in Autonomous Vehicles Using Model Predictive Control

    University essay from KTH/Reglerteknik

    Author : Christian Olsson; [2015]
    Keywords : ;

    Abstract : Autonomous vehicles and research pertaining to them have been an important topicin academia and industry in recent years. Developing controllers that enable vehiclesto performpath and trajectory following is a diverse topic where many differentcontrol strategies are available. READ MORE