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Nowadays, the control systems based on communication networks are used various industries such as manufacturing, automotive, aerospace, power generation and distribution, with many advantages and a couple of disadvantages. The latter can seriously affect the performances and the stability of each control system in the network and of the complex system as a whole. Moreover, it is well known that packet...
The purpose of this paper is the development of H∞ control strategy for the autonomous steering of ground vehicles. The focus is only on steering maneuvers, while the vehicle is driving at constant speed. The obtained simulation results show that the proposed H∞ control approach could provide very good performances in practical use.
Vehicle platooning (enforcing the vehicles to follow each other and to maintain a safe distance between them) could be the solution to the stringent problems that appear on existing highways. Moreover, it has been already proved that by including communication between vehicles (yielding cooperative vehicles) the performances of the resulting platoons are much greater than those obtained without communication...
The purpose of this paper is the development of a centralized model predictive control strategy for vehicle dynamics with focus on autonomous driving vehicles. The employed predictive control is multivariable, controlling the steering maneuvers and longitudinal speed. The vehicle speed is controlled based on the powertrain dynamics, while the steering maneuvers are controlled based on the vehicle...
In this paper, a multivariable nonlinear model predictive control strategy is proposed. The strategy is aimed to control the lateral and longitudinal vehicle dynamics, using as control variables the front wheels steering angle and front and rear wheels rotation speed. The control system is aimed to automatically drive the vehicle along a desired trajectory. For designing the nonlinear predictive controller,...
In this paper the purpose is to present a nonlinear model based predictive control of autonomous steering for the ground vehicles. The vehicle lateral dynamics mathematical model including the most important nonlinearities such as lateral tire forces, the optimal control problem and the steering control system are described. Simulation results show that this approach could provide good performances...
Current research in the automotive industry is tending more and more to developing control systems for complete autonomous driving vehicles. In this paper our aim is to present a nonlinear predictive control approach for automatic steering and present simulation results to show the performance of the proposed controller for the autonomous driving vehicle.
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