314 citations
- Université d'Évry Val-d'EssonneFR19 papers
- Centre National de la Recherche ScientifiqueFR15 papers
- Université Paris-SaclayFR12 papers
- LIP6FR10 papers
- Institut national de recherche en sciences et technologies du numériqueFR6 papers
- Sorbonne UniversitéFR6 papers
- Université Pierre-et-Marie-CurieFR5 papers
- Institut de Recherche en Informatique de ToulouseFR4 papers
- Institut Polytechnique de BordeauxFR3 papers
- Universidade Estadual de Campinas (UNICAMP)BR3 papers
- Université Gustave EiffelFR3 papers
- Université Paris CitéFR3 papers
6 papers · 1 filter
RNN-based linear parameter varying adaptive model predictive control for autonomous driving
Yassine Kebbati, Naima Ait-Oufroukh, Dalil Ichalal +1
Autonomous driving is a complex and highly dynamic process that ensures controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control, distinguished b…
Learning-based model predictive control with moving horizon state estimation for autonomous racing
Yassine Kebbati, Andreas Rauh, Naima Ait-Oufroukh +2
This paper addresses autonomous racing by introducing a real-time nonlinear model predictive controller (NMPC) coupled with a moving horizon estimator (MHE). The racing problem is…
Coordinated PSO-PID based longitudinal control with LPV-MPC based lateral control for autonomous vehicles
Yassine Kebbati, Naima Ait-Oufroukh, Vincent Vigneron +1
Autonomous driving is achieved by controlling the coupled nonlinear longitudinal and lateral vehicle dynamics. Longitudinal control greatly affects lateral dynamics and must preser…
Autonomous driving using an optimized neural network based adaptive LPV-MPC controller
Yassine Kebbati, Naima Ait-Oufroukh, Vicenç Puig +2
Driverless vehicles are complex systems operating in constantly changing environments. Automated driving is achieved by controlling the coupled longitudinal and lateral vehicle dyn…
Optimized adaptive MPC for lateral control of autonomous vehicles
Yassine Kebbati, Vicenç Puig, Naima Ait-Oufroukh +2
Autonomous vehicles are the upcoming solution to most transportation problems such as safety, comfort and efficiency. The steering control is one of the main important tasks in ach…
Optimized self-adaptive PID speed control for autonomous vehicles
Yassine Kebbati, Naima Ait-Oufroukh, Vincent Vigneron +2
The main control tasks in autonomous vehicles are steering (lateral) and speed (longitudinal) control. PID controllers are widely used in the industry because of their simplicity a…