Horizon-wise Model Predictive Control with Application to Autonomous Driving Vehicle
- Authors
- Choi, Woo Young; Lee, Seung-Hi; Chung, Chung Choo
- Issue Date
- Oct-2022
- Publisher
- IEEE Computer Society
- Keywords
- Autonomous Driving; Autonomous vehicles; Informatics; Linear matrix inequalities; Linear systems; Model Predictive Control; Parameter Varying; Predictive control; Time Varying System; Time-varying systems; Uncertainty; Vehicle Control
- Citation
- IEEE Transactions on Industrial Informatics, v.18, no.10, pp.6940 - 6949
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE Transactions on Industrial Informatics
- Volume
- 18
- Number
- 10
- Start Page
- 6940
- End Page
- 6949
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/191235
- DOI
- 10.1109/TII.2021.3137169
- ISSN
- 1551-3203
- Abstract
- In this article, we present an innovative approach, i.e., horizonwise model-predictive control (H-MPC), to solve the model-predictive control (MPC) problem of a linear time-varying (LTV) system. In H-MPC, we regard the time-varying parameters as time invariant within the prediction horizon. To solve the MPC problem of the time-varying system, the decision variable is decomposed into two terms: one for linear time-invariant optimization and the other for compensating LTV uncertainties with an introduction to a uniform compensation condition. The proposed H-MPC solves the time-varying problem by removing the uncertainty due to the future parameter variations within the horizon and by updating the time-invariant MPC at each sampling time. To validate the usefulness of the proposed H-MPC, it is applied to lane tracking control for an autonomous driving vehicle. From a comparative study of the H-MPC and conventional MPCs in lane tracking control, it is confirmed that the proposed H-MPC has a competitive performance compared to LTV-MPC despite its much simpler structure.
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