Merging Control for Automated Vehicles Using Distributed Model Predictive Control
نویسندگان
چکیده
منابع مشابه
Model Predictive Control of Distributed Energy Resources with Predictive Set-Points for Grid-Connected Operation
This paper proposes an MPC - based (model predictive control) scheme to control active and reactive powers of DERs (distributed energy resources) in a grid - connected mode (either through a bus with its associated loads as a PCC (point of common coupling) or an MG (micro - grid)). DER may be a DG (distributed generation) or an ESS (energy storage system). In the proposed scheme, the set - poin...
متن کاملDistributed model predictive control for irrigation canals DISTRIBUTED MODEL PREDICTIVE CONTROL OF IRRIGATION CANALS
Irrigation canals are large-scale systems, consisting of many interacting components, and spanning vast geographical areas. For safe and efficient operation of these canals, maintaining the levels of the water flows close to prespecified reference values is crucial, both under normal operating conditions as well as in extreme situations. Irrigation canals are equipped with local controllers, to...
متن کاملVisualizing Model Predictive Control of Vehicles
Model predictive control is a useful technique for controlling autonomous vehicles, enabling additional performance and safety over simpler controllers. However, its additional complexity means it produces more data and can be harder to debug and tune. This project aims to provide an interactive tool that aids engineers working with MPC by providing an easy way to view planned trajectories over...
متن کاملCooperative distributed model predictive control
In this paper we propose a cooperative distributed linear model predictive control strategy applicable to any finite number of subsystems satisfying a stabilizability condition. The control strategy has the following features: hard input constraints are satisfied; terminating the iteration of the distributed controllers prior to convergence retains closed-loop stability; in the limit of iterati...
متن کاملNested Distributed Model Predictive Control
We propose a distributed model predictive control approach for linear time-invariant systems coupled via dynamics. The proposed approach uses the tube MPC concept for robustness to handle the disturbances induced by mutual interactions between subsystems; however, the main novelty here is to replace the conventional linear disturbance rejection controller with a second MPC controller, as is don...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 2018
ISSN: 0453-4654,1883-8189
DOI: 10.9746/sicetr.54.718