Explicit model predictive control for linear time-variant systems with application to double-lane-change maneuver.

ABSTRACT: Explicit model predictive control (eMPC) has been proposed to reduce the huge computational complexity of MPC while maintaining the performance of MPC. Therefore, this control method has been more widely employed in the automotive industry than MPC. In this paper, an eMPC is designed to perform a double-lane-change (DLC) maneuver. This task has been employed to demonstrate the efficacy of controllers in an autonomous driving situation. In this sense, the proposed controller shows better performance than a driver model designed in CarSim at a high vehicle longitudinal velocity. The main contribution of this paper is to present an eMPC for discrete-time linear time-variant (LTV) systems so that the proposed controller can be robust against parameter variation. In a state-space representation

SUBMITTER: Lee J 

PROVIDER: S-EPMC6279033 | biostudies-literature | 2018

REPOSITORIES: biostudies-literature