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Title:

Tube model predictive control for an autonomous race car

Document type:
Zeitschriftenaufsatz
Author(s):
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...     »
Keywords:
robust control; model predictive control; tube MPC; autonomous driving; race car
Dewey Decimal Classification:
620 Ingenieurwissenschaften
Journal title:
Vehicle System Dynamics
Year:
2021
Year / month:
2021-06
Quarter:
2. Quartal
Month:
Jun
Covered by:
Scopus; Web of Science
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1080/00423114.2021.1943461
WWW:
https://doi.org/10.1080/00423114.2021.1943461
Publisher:
Taylor & Francis
Publisher address:
London
E-ISSN:
00423114
Submitted:
11.12.2020
Accepted:
02.06.2021
Date of publication:
23.06.2021
TUM Institution:
Lehrstuhl für Regelungstechnik
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