Journal: PLoS ONE

Article Title: Analysis of explicit model predictive control for path-following control

doi: 10.1371/journal.pone.0194110

Figure Lengend Snippet: Structure of an explicit MPC controller for path-following control constructed using a vehicle model from CarSim. Based on the values of the parameter vector θ , the block “critical regions” selects a critical region CRi ; then, the block “MPC feedback law” calculates the control action by applying the first MPC feedback law to the selected critical region CRi .

Article Snippet: In this study, an explicit MPC controller for path-following control was designed and analyzed using MATALB/Simulink and CarSim.

Techniques: Control, Construct, Plasmid Preparation, Blocking Assay

Journal: PLoS ONE

Article Title: Analysis of explicit model predictive control for path-following control

doi: 10.1371/journal.pone.0194110

Figure Lengend Snippet: This figure shows the paths of the LQR controller, explicit MPC controller, and driver model. It can be observed that in the case of the LQR controller, the deviation from the center line of the desired path is larger than that in the case of the explicit MPC controller, whereas path-following control performed using the explicit MPC controller is similar to that performed using the driver model in CarSim. The details of the error variables are shown in .

Article Snippet: In this study, an explicit MPC controller for path-following control was designed and analyzed using MATALB/Simulink and CarSim.

Techniques: Control