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Predictive Control for Autonomous Vehicles

Author(s):

S. Bouzid
Conference/Journal:

Lausanne (Switzerland), Diploma thesis at Institut d'automatique, EPFL.
Abstract:

In this work two controllers for trajectory tracking of two mobile robots one following the other were designed and implemented. The goal was to adjust the speed of the first vehicle to the road conditions and to adapt the distance of the second vehicle to the speed of the first one.
First, classical optimal control and Lyapunov synthesis were used to design a controller. The controlled system, however, was not robust.
Then predictive control which is an efficient solution to this problem was used. However, predictive control requires an on-line solution of the optimization procedure, from which a delay arises. The problem of the computational delay was solved by forwarding the reference signal.

Year:

2000
Type of Publication:

(12)Diploma/Master Thesis
Supervisor:

A. Ronco

No Files for download available.
% Autogenerated BibTeX entry
@PhdThesis { Xxx:2000:IFA_895
}
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