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自动驾驶车辆LQR轨迹跟踪控制器设计.pdf
为了提高智能车的控制精度,以碰撞中心(Center of Percussion,COP)为参考点建立前馈-反馈控制模型,
并用该控制模型求解LQR(Linear Quadratic Regulator)问题,获得状态反馈控制率,实现最优控制。
2019-08-09
Model Predictive Control of a Mobile Robot Using.rar
Abstract— This paper presents an optimal control scheme for a wheeled mobile robot (WMR) with nonholonomic constraints. It is well known that a WMR with nonholonomic constraints can not be feedback stabilized through continuously differentiable, time-invariant control laws. By using model predictive control (MPC), a discontinuous control law is naturally obtained. One of the main advantages of MPC is the ability to handle constraints (due to state or input limitations) in a straightforward way. Quadratic programming (QP) is used to solve a linear MPC by successive linearization of an error model of the WMR.
2019-08-09
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