Model-Predictive-Control-Based Path Tracking Controller of Autonomous Vehicle Considering Parametric Uncertainties and Velocity-Varying.
Shuo ChengLiang LiXiang ChenJian WuHong-da WangPublished in: IEEE Trans. Ind. Electron. (2021)
Keyphrases
- model predictive control
- autonomous vehicles
- control system
- closed loop
- desired trajectory
- predictive control
- reference trajectory
- tracking error
- control law
- control scheme
- real time
- control method
- trajectory tracking
- external disturbances
- path planning
- control algorithm
- particle filter
- robot motion
- obstacle avoidance
- neural network controller
- machine learning
- control strategy
- neural network
- optimal control
- expert systems
- multiple models
- robot control
- fuzzy controller