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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...
| Autores principales: | , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2022
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| Materias: | |
| 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 |