99 citations · 193 across the 9 of their papers we have counts for
9 papers
Tube-based Guaranteed Cost Robust Model Predictive Control for Linear Systems Subject to Parametric Uncertainties
Carlos M. Massera, Marco H. Terra, Denis F. Wolf
We propose a tube-based guaranteed cost model predictive controller considering a homothetic formulation for constrained linear systems subject to multiplicative structured norm-bo…
Tube-based Guaranteed Cost Model Predictive Control Applied to Autonomous Driving Up to the Limits of Handling
Carlos M. Massera, Tiago C. dos Santos, Marco H. Terra +1
The development of control techniques to maintain vehicle stability under possible loss-of-control scenarios is essential to the safe deployment of autonomous ground vehicles in pu…
Robust path-following control design of heavy vehicles based on multiobjective evolutionary optimization
Gustavo Alves Prudencio de Morais, Lucas Barbosa Marcos, Filipe Marques Barbosa +3
The ability to deal with systems parametric uncertainties is an essential issue for heavy self-driving vehicles in unconfined environments. In this sense, robust controllers prove…
Optimal Guaranteed Cost Control of Discrete-Time Linear Systems subject to Structured Uncertainties
Carlos M. Massera, Marco H. Terra, Denis F. Wolf
In this paper, we propose state- and static output-feedback generalized guaranteed cost control (GCC) approaches for discrete-time linear systems subject to norm-bounded structured…
Robust path-following control for articulated heavy-duty vehicles
Filipe Marques Barbosa, Lucas Barbosa Marcos, Maira Martins da Silva +2
Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due t…
Computation of Extended Robust Kalman Filter for Real-Time Attitude and Position Estimation
Gaurav Yengera, Roberto Inoue, Mundla Narasimhappa +1
This paper deals with the implementation of the extended robust Kalman filter (ERKF) which was developed considering uncertainties in the parameter matrices of the underlying state…
Safely Optimizing Highway Traffic with Robust Model Predictive Control-based Cooperative Adaptive Cruise Control
Carlos M. Massera, Marco H. Terra, Denis F. Wolf
Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted due to fatigue or external factors. V…
Guaranteed Cost Model Predictive Control-based Driver Assistance System for Vehicle Stabilization Under Tire Parameters Uncertainties
Carlos M. Massera, Marco H. Terra, Denis F. Wolf
Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted and a loss-of-control situation occur…
Guaranteed Cost Approach to Robust Model Predictive Control of Uncertain Linear Systems
Carlos M. Massera, Marco H. Terra, Denis F. Wolf
In this paper we propose a constrained guaranteed cost robust model predictive controller (GCMPC) for uncertain discrete time systems. This controller was developed based on a quad…