IEEE

Verification of Explicit Model Predictive Control Through Double-Lane-Change Maneuver

Abstract: In this paper, we analyze and verify explicit model predictive control (MPC) through the automated double-lane-change (DLC) maneuver by employing MATLAB/Simulink and CarSim. MPC has become a ...
GitHub

mpc_mld_explicit.qmd

Model predictive control (MPC) is not computationally cheap (compared to, say, PID or LQG control) as it requires solving optimization problem – typically a quadratic program (QP) - online. The ...
マイナビニュース

MPCによる「先読み」が最適な操作の鍵

MPCは、各時刻で未来の応答を予測しながら最適化を行う制御手法だ。オンラインで高速に最適化問題を計算しながらフィードバック制御を行う。入江氏は2008年に「プロのレーサーに勝つための自動運転」の研究開発に取り組んだ際、先読みの重要性を認識し ...
GitHub

mpc_explicit_script.m

addpath(['/Users/santosh/Library/CloudStorage/' ... 'OneDrive-TheOhioStateUniversity/Research/'... 'casadi-3.6.4-osx64-matlab2018b']) import casadi.* params.Q_x=1000 ...