Nonlinear Model Predictive Control for Path Following of Simple Small Electric Vehicle Using C/GMRES

研究成果: ジャーナルへの寄稿記事

1 引用 (Scopus)

抄録

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.

元の言語英語
ページ(範囲)253-258
ページ数6
ジャーナルIFAC-PapersOnLine
51
発行部数20
DOI
出版物ステータス出版済み - 2018

Fingerprint

Model predictive control
Electric vehicles
Controllers
Tires
Friction

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

これを引用

Nonlinear Model Predictive Control for Path Following of Simple Small Electric Vehicle Using C/GMRES. / Owaki, Yuto; Yuno, Tsuyoshi; Kawabe, Taketoshi.

:: IFAC-PapersOnLine, 巻 51, 番号 20, 2018, p. 253-258.

研究成果: ジャーナルへの寄稿記事

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