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Experimental validation of model predictive control stability for autonomous driving
KTH, School of Industrial Engineering and Management (ITM), Centres, Integrated Transport Research Lab, ITRL. Scania CV AB, Res & Dev, S-15187 Södertälje, Sweden..ORCID iD: 0000-0002-6802-7520
KTH, School of Industrial Engineering and Management (ITM), Centres, Integrated Transport Research Lab, ITRL. Scania CV AB, Res & Dev, S-15187 Södertälje, Sweden..ORCID iD: 0000-0003-1673-2671
KTH, School of Industrial Engineering and Management (ITM), Centres, Integrated Transport Research Lab, ITRL.ORCID iD: 0000-0002-3672-5316
KTH, School of Industrial Engineering and Management (ITM), Centres, Integrated Transport Research Lab, ITRL.ORCID iD: 0000-0002-1927-1690
2018 (English)In: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 81, p. 244-255Article in journal (Refereed) Published
Abstract [en]

This paper addresses the design of time-varying model predictive control of an autonomous vehicle in the presence of input rate constraints such that closed-loop stability is guaranteed. Stability is proved via Lyapunov techniques by adding a terminal state constraint and a terminal cost to the controller formulation. The terminal set is the maximum positive invariant set of a multi-plant description of the vehicle linear time-varying model. The terminal cost is an upper-bound on the infinite cost-to-go incurred by applying a linear-quadratic regulator control law. The proposed control design is experimentally tested and successfully stabilizes an autonomous Scania construction truck in an obstacle avoidance scenario.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD , 2018. Vol. 81, p. 244-255
Keywords [en]
Model predictive control, Stability, Set invariance, Autonomous driving, Automatic control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-239756DOI: 10.1016/j.conengprac.2018.09.021ISI: 000449899500022Scopus ID: 2-s2.0-85054297364OAI: oai:DiVA.org:kth-239756DiVA, id: diva2:1277317
Note

QC 20190110

Available from: 2019-01-10 Created: 2019-01-10 Last updated: 2019-01-10Bibliographically approved

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Lima, Pedro F.Pereira, Goncalo CollaresMårtensson, JonasWahlberg, Bo

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