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dc.contributor.authorAlcalá Baselga, Eugenio
dc.contributor.authorPuig Cayuela, Vicenç
dc.contributor.authorQuevedo Casín, Joseba Jokin
dc.contributor.authorRosolia, Ugo
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2021-02-25T09:10:30Z
dc.date.available2022-02-01T01:26:30Z
dc.date.issued2020-02-01
dc.identifier.citationAlcala, E. [et al.]. Autonomous racing using Linear Parameter Varying-Model Predictive Control (LPV-MPC). "Control engineering practice", 1 Febrer 2020, vol. 95, núm. 104270, p. 1-8.
dc.identifier.issn0967-0661
dc.identifier.urihttp://hdl.handle.net/2117/340478
dc.description.abstractThis 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 (LPV-MPC) that can be computed online with reduced computational cost. The optimal time problem is solved by an optimal off-line trajectory planner that calculates the best trajectory under the constraints of the circuit. An identification of the system model based on optimization is also carried out. The planning and control scheme is validated in simulation and experimentally in a real platform where the effectiveness of the proposed LPV-MPC is demonstrated.
dc.format.extent8 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject.lcshPredictive control
dc.subject.lcshAutonomous vehicles
dc.subject.lcshAutomatic control
dc.titleAutonomous racing using Linear Parameter Varying-Model Predictive Control (LPV-MPC)
dc.typeArticle
dc.subject.lemacControl predictiu
dc.subject.lemacVehicles autònoms
dc.subject.lemacControl automàtic
dc.contributor.groupUniversitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control
dc.identifier.doi10.1016/j.conengprac.2019.104270
dc.relation.publisherversionhttps://www.sciencedirect.com/science/article/abs/pii/S0967066119302187
dc.rights.accessOpen Access
local.identifier.drac27009224
dc.description.versionPostprint (updated version)
local.citation.authorAlcala, E.; Puig, V.; Quevedo, J.; Rosolia, U.
local.citation.publicationNameControl engineering practice
local.citation.volume95
local.citation.number104270
local.citation.startingPage1
local.citation.endingPage8


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