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Citation |
Gao Y, Gray A, Tseng HE, Borrelli F. Veh. Syst. Dyn. 2014; 52(6): 802-823. |
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Copyright |
(Copyright © 2014, Informa - Taylor and Francis Group) |
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DOI |
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PMID |
unavailable |
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Abstract |
This paper proposes a robust control framework for lane-keeping and obstacle avoidance of semiautonomous ground vehicles. It presents a systematic way of enforcing robustness during the MPC design stage. A robust nonlinear model predictive controller (RNMPC) is used to help the driver navigating the vehicle in order to avoid obstacles and track the road centre line. A force-input nonlinear bicycle vehicle model is developed and used in the RNMPC control design. A robust invariant set is used in the RNMPC design to guarantee that state and input constraints are satisfied in the presence of disturbances and model error. Simulations and experiments on a vehicle show the effectiveness of the proposed framework. |