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An improved model-based predictive control of vehicle trajectory by using nonlinear function

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Abstract

A new model-based predictive control algorithm for vehicle trajectory control is proposed by using vehicle velocity and sideslip angle. Based on the error function combined with vehicle velocity and side slip of a bicycle model, a predictive control method has been proven to be useful on low velocity. Thus, it could be applied for an autonomous vehicle without a driver. Although an autonomous robot is not necessary to be driven with a high velocity, a commercial vehicle has to be driven at high velocity. Thus the previous predictive control formulation is not enough for a commercial driving system. This study is proposed to enhance the capacity of the predictive controller for rather high speed vehicles.

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Authors and Affiliations

  1. Department of mechanical engineering, Pusan National University, Busan, 609-735, Korea

    Jeong-Han Lee & Wan-Suk Yoo

Authors
  1. Jeong-Han Lee
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  2. Wan-Suk Yoo
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Corresponding author

Correspondence to Wan-Suk Yoo.

Additional information

Mr. Jeong-Han Lee is pursuing a Ph.D. degree in Mechanical Engineering at Pusan National University under the supervision of professor Wan-Suk Yoo. His research interests are focused on the area of adaptive control using multibody dynamics.

Dr. Wan-Suk Yoo received his Ph.D. degree in 1985 from the University of Iowa. In 1994, he became a full professor at the Pusan National University, and he was selected an ASME fellow. He is serving as a vicepresident of the KSME.

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Lee, JH., Yoo, WS. An improved model-based predictive control of vehicle trajectory by using nonlinear function. J Mech Sci Technol 23, 918–922 (2009). https://doi.org/10.1007/s12206-009-0312-9

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  • DOI: https://doi.org/10.1007/s12206-009-0312-9

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