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MPC
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Matlab的ACC模型
MPC,ACC效果图原创 2022-10-17 19:33:00 · 1449 阅读 · 1 评论 -
2022.3.6总结非线性系统线性化方法,第五章
巨大的错误,因为符号导致无法求解第二部分第一种:存在参考系统的线性化方法第二种:针对状态轨迹的线性化方法主要思想是:通过对系统施加持续不变的控制量,得到一条状态轨迹,根据该状态轨迹和系统实际状态量的偏差设计线性模型预测控制算法。这种方法的优势是不需要预先地导期望跟踪路径的状态量和控制量。非线性系统离散线性化方法(二)_更适合青年研究者的资源库!公众号:杰哥的无人驾驶便利店-CSDN博客_非线性系统离散化function [sys,x0,str,ts] = ch...原创 2022-03-07 09:58:45 · 3653 阅读 · 0 评论 -
异构车队的最优生态友好排成策略
Sejong University本文提出了一种适用于异构编队的生态友好排编组策略对于单一路线的电动汽车。最大限度地发挥排班的优势,包括节能。采用基于数学模型的优化技术,实现了CO2减排,确定排的最佳数量和配置。每辆车的节能是不同的,由于其尺寸和相邻车辆的尺寸不同。例如,即使车辆前后的车辆都很大,内部车辆的大小会影响其自身的能量,前后车辆的消耗和节能率。观察研究了排车的节能效果,并对不同车型进行了数值试验表演。由于相邻车辆的类型影响每辆车的节能,因此研究发现,钟形排列模式通常对节省能量有效。原创 2021-09-28 21:15:47 · 721 阅读 · 0 评论 -
Research on Control Target of Truck Platoon Based on Maximizing Fuel Saving Rate(WU JIANJUN)
文献综述为了形成一个稳定的卡车排,许多研究人员研究了该排的控制方法。基于自适应巡航控制(ACC)[8,9]和协同控制自适应巡航控制(CACC)[10],MutluŞentürk等人。提出了一种适用于汽车排驶的控制方法轻型商用车。该方法结合了ACC和CACC的优点[3]。Mahnam Saeednia和MonicaMenendez提出了一种基于一致性的卡车调度算法排该算法使卡车能够形成稳定的初始车辆间距较大时的排[4]。圣波Eben Li和Feng Gao等人提出了一种原创 2021-09-28 11:12:26 · 314 阅读 · 0 评论 -
无人驾驶车辆模型预测控制3.4.2——复现
MPCfunction [sys,x0,str,ts] =MY_MPCController3(t,x,u,flag)%***************************************************************%% Input:% t是采样时间, x是状态变量, u是输入(是做成simulink模块的输入,即CarSim的输出),% flag是仿真过程中的状态标志(以它来判断当前是初始化还是运行等)% Output:% sys输出根据flag的不同而不同.原创 2021-08-12 19:43:59 · 1628 阅读 · 1 评论 -
Part 7: Adaptive MPC Design with Simulink and Model Predictive Control Toolbox
In this video, we’ll use adaptive MPC to autonomously steer acar whose lateral vehicle dynamicsis changing with time due to the varying longitudinal velocity. In the previous video, we discussed the linear lateral vehicle dynamics and assumed that the ca..原创 2021-08-12 15:10:08 · 803 阅读 · 1 评论 -
Part 6: How to Design an MPC Controller with Simulink and Model Predictive Control Toolbox
In this video, we’ll use the MPC Designer app to design an MPC controller that autonomously steers a car in a lane change maneuver scenario. Let’s start by looking at the parameters of this system. The car’s global position is represented with respect to t原创 2021-08-12 14:17:38 · 675 阅读 · 2 评论 -
Understanding Model Predictive Control, Part 5: How To Run MPC Faster
In this video, we’ll discuss implementation tips for running MPC faster. We’ll continue using the pancake metaphor from the previous video. Feeding people pancakes is a complex process. You need to prepare the mix, cook the pancakes, and serve them fast be原创 2021-08-12 13:50:07 · 158 阅读 · 0 评论 -
Understanding Model Predictive Control, Part 4: Adaptive, Gain-Scheduled, and Nonlinear MPC
Linear and Nonlinear Model Predictive ControllersYouwant to control your system with an MPC controller,butyou’re not sure which methods are available? Thenkeep watching because I’m going togive you some recipes.I’ll start withsomepancakerecipes....原创 2021-08-12 13:38:34 · 437 阅读 · 0 评论 -
MPC-maltab----MPC的参数
In this video, we’ll talk about MPC design parameters. Choosing proper values for these parameters is important as they affect not only the controller performance but also the computational complexity of the MPC algorithm that solves an online optimization原创 2021-08-12 13:25:49 · 1970 阅读 · 0 评论