4 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…