Multilevel approximate model predictive control and its application to autonomous vehicle active steering

Seung Hi Lee, Choo Chung Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations

Abstract

An innovative approximate explicit model predictive control strategy is proposed. A multilevel approximation scheme for state space partitioning is applied, which relies on an adaptive domain decomposition strategy using multidimensional tree techniques. Polytopes are generated from such state space partitioning, for which equivalent state feedback gains are computed such that approximate explicit controls can be simply computed. The proposed scheme requires no online optimization and thus computing control using pre-computed control gains is extremely fast. Through an application to autonomous vehicle lateral control, it is shown that the proposed method can achieve a significant improvement of computation time and approximation quality over other approximate predictive control methods.

Original languageEnglish
Title of host publication2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5746-5751
Number of pages6
ISBN (Print)9781467357173
DOIs
StatePublished - 2013 Jan 1
Event52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy
Duration: 2013 Dec 102013 Dec 13

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other52nd IEEE Conference on Decision and Control, CDC 2013
CountryItaly
CityFlorence
Period13/12/1013/12/13

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  • Cite this

    Lee, S. H., & Chung, C. C. (2013). Multilevel approximate model predictive control and its application to autonomous vehicle active steering. In 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013 (pp. 5746-5751). [6760795] (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2013.6760795