Robust tube-based decentralized nonlinear model predictive control of an autonomous tractor-trailer system

IEEE/ASME Transactions on Mechatronics

Volumn 20, Issue 1, 2015, Pages 447-456

  Kayacan, Erkan ^a   Kayacan, Erdal ^b   Ramon, Herman ^a   Saeys, Wouter ^a  

^a UNIVERSITY OF LEUVEN   (Belgium)

^b NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

Agricultural robot; autonomous vehicle; decentralized nonlinear model predictive control (NMPC); nonlinear moving horizon estimation (NMHE); tractor trailer system; Tube based nonlinear model predictive control

Indexed keywords

CONTROLLERS; DECENTRALIZED CONTROL; MANEUVERABILITY; NONLINEAR ANALYSIS; NONLINEAR SYSTEMS; PREDICTIVE CONTROL SYSTEMS; TRACTORS (AGRICULTURAL); TRACTORS (TRUCK); TRAJECTORIES; TRUCK TRAILERS; TUBES (COMPONENTS); UNMANNED VEHICLES;

AGRICULTURAL ROBOT; AUTONOMOUS VEHICLES; MOVING HORIZON ESTIMATION; NONLINEAR MODEL PREDICTIVE CONTROL; TRACTOR-TRAILER SYSTEM;

MODEL PREDICTIVE CONTROL;

EID: 85027926064     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2014.2334612     Document Type: Article

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