Time-optimal race car driving using an online exact hessian based nonlinear MPC algorithm
| Autor: | Rien Quirynen, Robin Verschueren, Moritz Diehl, Mario Zanon |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
Hessian matrix
0209 industrial biotechnology Engineering 021103 operations research business.industry Numerical analysis Control (management) Work (physics) 0211 other engineering and technologies 02 engineering and technology Time optimal symbols.namesake Model predictive control Nonlinear system 020901 industrial engineering & automation Control theory symbols business Algorithm Sequential quadratic programming |
| Zdroj: | ECC |
| DOI: | 10.1109/ecc.2016.7810277 |
| Popis: | This work presents an embedded nonlinear model predictive control (NMPC) strategy for autonomous vehicles under a minimum time objective. The time-optimal control problem is stated in a path-parametric formulation such that existing reliable numerical methods for real-time nonlinear MPC can be used. Building on previous work on timeoptimal driving, we present an approach based on a sequential quadratic programming type algorithm with online propagation of second order derivatives. As an illustration of our method, we provide closed-loop simulation results based on a vehicle model identified for small-scale electric race cars. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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