Horizon-wise Model Predictive Control with Application to Autonomous Driving Vehicle
DC Field | Value | Language |
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dc.contributor.author | Choi, Woo Young | - |
dc.contributor.author | Lee, Seung-Hi | - |
dc.contributor.author | Chung, Chung Choo | - |
dc.date.accessioned | 2023-09-26T09:40:28Z | - |
dc.date.available | 2023-09-26T09:40:28Z | - |
dc.date.created | 2022-01-26 | - |
dc.date.issued | 2022-10 | - |
dc.identifier.issn | 1551-3203 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/191235 | - |
dc.description.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. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE Computer Society | - |
dc.title | Horizon-wise Model Predictive Control with Application to Autonomous Driving Vehicle | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Chung, Chung Choo | - |
dc.identifier.doi | 10.1109/TII.2021.3137169 | - |
dc.identifier.scopusid | 2-s2.0-85122086129 | - |
dc.identifier.wosid | 000838389400046 | - |
dc.identifier.bibliographicCitation | IEEE Transactions on Industrial Informatics, v.18, no.10, pp.6940 - 6949 | - |
dc.relation.isPartOf | IEEE Transactions on Industrial Informatics | - |
dc.citation.title | IEEE Transactions on Industrial Informatics | - |
dc.citation.volume | 18 | - |
dc.citation.number | 10 | - |
dc.citation.startPage | 6940 | - |
dc.citation.endPage | 6949 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Computer Science | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Interdisciplinary Applications | - |
dc.relation.journalWebOfScienceCategory | Engineering, Industrial | - |
dc.subject.keywordPlus | MPC | - |
dc.subject.keywordPlus | SYSTEMS | - |
dc.subject.keywordPlus | SET | - |
dc.subject.keywordPlus | IDENTIFICATION | - |
dc.subject.keywordPlus | PARAMETER | - |
dc.subject.keywordAuthor | Autonomous Driving | - |
dc.subject.keywordAuthor | Autonomous vehicles | - |
dc.subject.keywordAuthor | Informatics | - |
dc.subject.keywordAuthor | Linear matrix inequalities | - |
dc.subject.keywordAuthor | Linear systems | - |
dc.subject.keywordAuthor | Model Predictive Control | - |
dc.subject.keywordAuthor | Parameter Varying | - |
dc.subject.keywordAuthor | Predictive control | - |
dc.subject.keywordAuthor | Time Varying System | - |
dc.subject.keywordAuthor | Time-varying systems | - |
dc.subject.keywordAuthor | Uncertainty | - |
dc.subject.keywordAuthor | Vehicle Control | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/9658225 | - |
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