Battery electric vehicles (BEVs) are expected to play an important role in the transition to sustainable energy in the automotive field, and advanced driver assistance systems can play a big role in ...

Abstract: The paper shows a procedure for constructing an approximated explicit form of the MPC-based reference governor. MPC-based reference governors are often setup up with long prediction horizons ...

MPCは、各時刻で未来の応答を予測しながら最適化を行う制御手法だ。オンラインで高速に最適化問題を計算しながらフィードバック制御を行う。入江氏は2008年に「プロのレーサーに勝つための自動運転」の研究開発に取り組んだ際、先読みの重要性を認識し ...

Abstract: Explicit Model Predictive Control (MPC) is an attractive control strategy, especially when one aims at a fast, computationally less demanding implementation of MPC. However the major ...

In the context of a masters course on constrained optimal control, we were looking to implement the classic cart-pendulum example, with a hard state constraint on the angle of the pendulum. Our ...