Dp 575 en
Model Predictive Control of Vehicle Lateral Dynamics
Author: Raisigl Matouš
The focus of this work is on a modern MPC regulator which finds solutions by transformating the regulation problem to an optimization problem. The solutions of these optimazation problem are then used as inputs to the system. The optimization problem has to be computed every sampling period, hence the optimization problem order must be as small as possible. There are two ways to reduce the optimization problem size. The first is to reduce the number of steps in the input to the system (input blocking). The second is to reduce the number of steps in the prediction, using the reduction of the so called soft limitations.
- Matouš Raisigl, mailto:firstname.lastname@example.org