LQR-MPC-Based Trajectory-Tracking Controller of Autonomous Vehicle Subject to Coupling Effects and Driving State Uncertainties

This paper presents a lateral and longitudinal coupling controller for a trajectory-tracking control system. The proposed controller can simultaneously minimize lateral tracking deviation while tracking the desired trajectory and vehicle speed. Firstly, we propose a hierarchical control structure co...

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Detalles Bibliográficos
Autores principales: Yuan, Tengfei, Zhao, Rongchen
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9331098/
https://www.ncbi.nlm.nih.gov/pubmed/35898060
http://dx.doi.org/10.3390/s22155556

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9331098/
https://www.ncbi.nlm.nih.gov/pubmed/35898060
http://dx.doi.org/10.3390/s22155556

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