Now showing items 1-9 of 9

    • Advances in planning and control for autonomous vehicles 

      Alcalá Baselga, Eugenio (Universitat Politècnica de Catalunya, 2020-03-24)
      Doctoral thesis
      Open Access
      This thesis presents some advances to the state of the art of state estimation, automatic control and trajectory planning fields applied to autonomous vehicles. Such contributions have a common aspect throughout the thesis, ...
    • Autonomous racing using Linear Parameter Varying-Model Predictive Control (LPV-MPC) 

      Alcalá Baselga, Eugenio; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin; Rosolia, Ugo (2020-02-01)
      Article
      Open Access
      This article presents an innovative control approach for autonomous racing vehicles. Linear Parameter Varying (LPV) theory is used to model the dynamics of the vehicle and implement an LPV-Model Predictive Controller ...
    • Autonomous vehicle control using a kinematic Lyapunov-based technique with LQR-LMI tuning 

      Alcalá Baselga, Eugenio; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin; Escobet Canal, Teresa; Comasòlivas Font, Ramon (2018-04-01)
      Article
      Open Access
      This paper presents the control of an autonomous vehicle using a Lyapunov-based technique with a LQR-LMI tuning. Using the kinematic model of the vehicle, a non-linear control strategy based on Lyapunov theory is proposed ...
    • Fast zonotope-tube-based LPV-MPC for autonomous vehicles 

      Alcalá Baselga, Eugenio; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin (2020-12-27)
      Article
      Open Access
      In this study, the authors present an effective online tube-based model predictive control (T-MPC) solution for autonomous driving that aims at improving the computational load while ensuring robust stability and performance ...
    • Gain-scheduling LPV control for autonomous vehicles including friction force estimation and compensation mechanism 

      Alcalá Baselga, Eugenio; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin; Escobet Canal, Teresa (2018-08-14)
      Article
      Open Access
      This study presents a solution for the integrated longitudinal and lateral control problem of urban autonomousvehicles. It is based on a gain-scheduling linear parameter-varying (LPV) control ...
    • LPV-MP planning for autonomous racing vehicles considering obstacles 

      Alcalá Baselga, Eugenio; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin (2020-02-01)
      Article
      Open Access
      In this paper, we present an effective online planning solution for autonomous vehicles that aims at improving the computational load while preserving high levels of performance in racing scenarios. The method follows the ...
    • LPV-MPC control of autonomous vehicles 

      Alcalá Baselga, Eugenio; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin (2019)
      Conference report
      Open Access
      In this work, a novel approach is presented to solve the trajectory tracking problem for autonomous vehicles. This method is based on the use of a cascade control where the external loop solves the position control using ...
    • Modelling, planning and nonlinear control techniques for autonomous vehicles 

      Alcalá Baselga, Eugenio (Universitat Politècnica de Catalunya, 2016-06-20)
      Master thesis
      Open Access
      Autonomous driving has been an important topic of research in recent years. Autonomous driving is a very challenging research topic that requires from different disciplines such as electronics, computer vision, geolocalization, ...
    • TS-MPC for autonomous vehicles Including a TS-MHE-UIO estimator 

      Alcalá Baselga, Eugenio; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin (Institute of Electrical and Electronics Engineers (IEEE), 2019-07-01)
      Article
      Open Access
      In this paper, a novel approach is presented to solve the trajectory tracking problem for autonomous vehicles. This approach is based on the use of a cascade control where the external loop solves the position control using ...