Control Predictivo en Cascada de un Vehículo Autónomo | Revista Iberoamericana de Automática e Informática Industrial RIAI

Article information

Resumen

Este trabajo presenta el diseño de un controlador predictivo basado en modelo para las dinámicas lateral y longitudinal de un vehículo autónomo. El controlador propuesto se implementa mediante una estructura en cascada con el control de la cinemática del vehículo para obtener las prestaciones deseadas a altas velocidades para el problema de seguimiento de trayectoria. Se utiliza un controlador predictivo descentralizado basado en el modelo dinámico linealizado del vehículo. Resultados experimentales con el controlador cinemático y resultados de simulación utilizando el controlador cascada propuesto son mostrados para corroborar el análisis teórico presentado.

Palabras clave:

vehículo autónomo

control predictivo

seguimiento de trayectoria

control de deslizamiento lateral

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