239 citations · 739 across the 6 of their papers we have counts for
5 papers · 1 filter
Distributed nonlinear model predictive control of an autonomous tractor-trailer system
Erkan Kayacan, Erdal Kayacan, Herman Ramon +1
This paper addresses the trajectory tracking problem of an autonomous tractor-trailer system by using a fast distributed nonlinear model predictive control algorithm in combination…
Towards agrobots: Identification of the yaw dynamics and trajectory tracking of an autonomous tractor
Erkan Kayacan, Erdal Kayacan, Herman Ramon +1
More efficient agricultural machinery is needed as agricultural areas become more limited and energy and labor costs increase. To increase their efficiency, trajectory tracking pro…
Robust Tube-Based Decentralized Nonlinear Model Predictive Control of an Autonomous Tractor-Trailer System
Erkan Kayacan, Erdal Kayacan, Herman Ramon +1
This paper addresses the trajectory tracking problem of an autonomous tractor-trailer system by using a decentralized control approach. A fully decentralized model predictive contr…
Learning in Centralized Nonlinear Model Predictive Control: Application to an Autonomous Tractor-Trailer System
Erkan Kayacan, Erdal Kayacan, Herman Ramon +1
One of the most critical tasks in tractor operation is the accurate steering during field operations, e.g., accurate trajectory following during mechanical weeding or spraying, to…
Experimental Validation of Linear and Nonlinear MPC on an Articulated Unmanned Ground Vehicle
Erkan Kayacan, Wouter Saeys, Herman Ramon +2
This paper focuses on the trajectory tracking control problem for an articulated unmanned ground vehicle. We propose and compare two approaches in terms of performance and computat…