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Titel:

Tube model predictive control for an autonomous race car

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Wischnewski,A.; Euler,M.; Gümüs,S.; Lohmann,B.
Abstract:
Nonlinear effects and external disturbances can severely impact the control of an autonomous race car at the handling limits. State-of-the-art approaches do not take these uncertainties explicitly into account in the design process and are therefore prone to failure. To overcome this limitation, we present a robust control design based on tube model predictive control (TMPC). It is based on a simplified friction limited point-mass model and an additive disturbance for the lateral and longitudina...     »
Stichworte:
robust control; model predictive control; tube MPC; autonomous driving; race car
Dewey Dezimalklassifikation:
620 Ingenieurwissenschaften
Zeitschriftentitel:
Vehicle System Dynamics
Jahr:
2021
Jahr / Monat:
2021-06
Quartal:
2. Quartal
Monat:
Jun
Nachgewiesen in:
Scopus; Web of Science
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.1080/00423114.2021.1943461
WWW:
https://doi.org/10.1080/00423114.2021.1943461
Verlag / Institution:
Taylor & Francis
Verlagsort:
London
E-ISSN:
00423114
Eingereicht (bei Zeitschrift):
11.12.2020
Angenommen (von Zeitschrift):
02.06.2021
Publikationsdatum:
23.06.2021
TUM Einrichtung:
Lehrstuhl für Regelungstechnik
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