@article{ref1,
title="A tube-based robust nonlinear predictive control approach to semiautonomous ground vehicles",
journal="Vehicle system dynamics",
year="2014",
author="Gao, Yiqi and Gray, Andrew and Tseng, H. Eric and Borrelli, Francesco",
volume="52",
number="6",
pages="802-823",
abstract="This paper proposes a robust control framework for lane-keeping and obstacle avoidance of semiautonomous ground vehicles. It presents a systematic way of enforcing robustness during the MPC design stage. A robust nonlinear model predictive controller (RNMPC) is used to help the driver navigating the vehicle in order to avoid obstacles and track the road centre line. A force-input nonlinear bicycle vehicle model is developed and used in the RNMPC control design. A robust invariant set is used in the RNMPC design to guarantee that state and input constraints are satisfied in the presence of disturbances and model error. Simulations and experiments on a vehicle show the effectiveness of the proposed framework.<p />",
language="en",
issn="0042-3114",
doi="10.1080/00423114.2014.902537",
url="http://dx.doi.org/10.1080/00423114.2014.902537"
}