| Форма представления | Тезисы и материалы конференций в зарубежных журналах и сборниках |
| Год публикации | 2021 |
|
Волков Василий Геннадьевич, автор
Демьянов Дмитрий Николаевич, автор
|
|
Галимова Гульшат Рифкатовна, автор
|
| Библиографическое описание на языке оригинала |
Galimova G., Volkov V., Demyanov D. An MPC-Based Path-Following Control Algorithm of the Road Train //2021 International Russian Automation Conference (RusAutoCon). ? IEEE, 2021. ? С. 964-969. |
| Аннотация |
The paper considers the problem of controlling the
movement of a road train along a curved trajectory with an
optimal speed, taking into account the restrictions on the control
actions and the road train jackknifing angle. We formulated the
problem of the road train motion MPC-control. We propose a
prediction model and formulas for calculating the reference
states and control inputs. The article presents the results of
testing the movement of a road train along given trajectories at
various values of the reference speed. It is shown that the
algorithm provides sufficiently high accuracy of following the
trajectory, maintaining the speed close to its reference value. The
developed algorithm can be used in the future to develop systems
of active driver assistance systems and autonomous road trains. |
| Ключевые слова |
model predictive control, coupled control, vehicle longitudinal dynamics, vehicle lateral dynamics, path following, road train |
| Издательство |
IEEE |
| URL |
https://ieeexplore.ieee.org/document/9537560 |
| Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку |
https://repository.kpfu.ru/?p_id=257332 |
Полная запись метаданных  |
| Поле DC |
Значение |
Язык |
| dc.contributor.author |
Волков Василий Геннадьевич |
ru_RU |
| dc.contributor.author |
Демьянов Дмитрий Николаевич |
ru_RU |
| dc.contributor.author |
Галимова Гульшат Рифкатовна |
ru_RU |
| dc.date.accessioned |
2021-01-01T00:00:00Z |
ru_RU |
| dc.date.available |
2021-01-01T00:00:00Z |
ru_RU |
| dc.date.issued |
2021 |
ru_RU |
| dc.identifier.citation |
Galimova G., Volkov V., Demyanov D. An MPC-Based Path-Following Control Algorithm of the Road Train //2021 International Russian Automation Conference (RusAutoCon). ? IEEE, 2021. ? С. 964-969. |
ru_RU |
| dc.identifier.uri |
https://repository.kpfu.ru/?p_id=257332 |
ru_RU |
| dc.description.abstract |
The paper considers the problem of controlling the
movement of a road train along a curved trajectory with an
optimal speed, taking into account the restrictions on the control
actions and the road train jackknifing angle. We formulated the
problem of the road train motion MPC-control. We propose a
prediction model and formulas for calculating the reference
states and control inputs. The article presents the results of
testing the movement of a road train along given trajectories at
various values of the reference speed. It is shown that the
algorithm provides sufficiently high accuracy of following the
trajectory, maintaining the speed close to its reference value. The
developed algorithm can be used in the future to develop systems
of active driver assistance systems and autonomous road trains. |
ru_RU |
| dc.language.iso |
ru |
ru_RU |
| dc.publisher |
IEEE |
ru_RU |
| dc.subject |
model predictive control |
ru_RU |
| dc.subject |
coupled control |
ru_RU |
| dc.subject |
vehicle longitudinal dynamics |
ru_RU |
| dc.subject |
vehicle lateral dynamics |
ru_RU |
| dc.subject |
path following |
ru_RU |
| dc.subject |
road train |
ru_RU |
| dc.title |
An MPC-Based Path-Following Control Algorithm of the Road Train
|
ru_RU |
| dc.type |
Тезисы и материалы конференций в зарубежных журналах и сборниках |
ru_RU |
|
EN 
中文 
ES 
Карта сайта
