Note: This content is accessible to all versions of every browser. However, this browser does not seem to support current Web standards, preventing the display of our site's design details.


Predictive Control for Autonomous Vehicles


S. Bouzid

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

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.


Type of Publication:

(12)Diploma/Master Thesis

A. Ronco

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