TY - JOUR
T1 - Nonlinear Model Predictive Control for Path Following of Simple Small Electric Vehicle Using C/GMRES
AU - Owaki, Yuto
AU - Yuno, Tsuyoshi
AU - Kawabe, Taketoshi
N1 - Publisher Copyright:
© 2018
PY - 2018
Y1 - 2018
N2 - We propose a non-hierarchical controller based on nonlinear model predictive control for the path following of a simple electric vehicle. Generally, tyre forces close to of friction circle limit exhibit strong nonlinearity. We deal with the nonlinearity without approximation to improve the vehicle's dynamic performance while preventing drift out and spin. The C/GMRES algorithm is used for nonlinear model predictive control, and we show that the controller can update its inputs in real time.
AB - We propose a non-hierarchical controller based on nonlinear model predictive control for the path following of a simple electric vehicle. Generally, tyre forces close to of friction circle limit exhibit strong nonlinearity. We deal with the nonlinearity without approximation to improve the vehicle's dynamic performance while preventing drift out and spin. The C/GMRES algorithm is used for nonlinear model predictive control, and we show that the controller can update its inputs in real time.
UR - http://www.scopus.com/inward/record.url?scp=85056835742&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85056835742&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2018.11.022
DO - 10.1016/j.ifacol.2018.11.022
M3 - Article
AN - SCOPUS:85056835742
VL - 51
SP - 253
EP - 258
JO - 6th IFAC Conference on Nonlinear Model Predictive Control NMPC 2018: Madison, Wisconsin, USA, 19-22 August 2018
JF - 6th IFAC Conference on Nonlinear Model Predictive Control NMPC 2018: Madison, Wisconsin, USA, 19-22 August 2018
SN - 2405-8963
IS - 20
ER -