baidu进阶训练笔记二十20200807

第七章 百度Apollo控制介绍（三）

Control in Apollo-3

控制器的种类

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Feedforward Loop Controller

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• Main Control strategy

• Optimal Control

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    • cost function

  • 线性化膜层

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  • linear

  • LQR Controller

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• Adaptive Control

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• Robu st Control

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Controller Design

Deadzone Compensation

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Controller Design —Anti windup + Slew rate limit

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未来趋势

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Apollo控制工程方面的问题

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