relation: http://eprints.imtlucca.it/4007/
title: Time-optimal race car driving using an online exact hessian based nonlinear MPC algorithm
creator: Verschueren, Robin
creator: Zanon, Mario
creator: Quirynen, Rien
creator: Diehl, Moritz
subject: T Technology (General)
description: This work presents an embedded nonlinear model predictive control (NMPC) strategy for autonomous vehicles under a minimum time objective. The time-optimal control problem is stated in a path-parametric formulation such that existing reliable numerical methods for real-time nonlinear MPC can be used. Building on previous work on timeoptimal driving, we present an approach based on a sequential quadratic programming type algorithm with online propagation of second order derivatives. As an illustration of our method, we provide closed-loop simulation results based on a vehicle model identified for small-scale electric race cars.
publisher: IEEE
date: 2016
type: Conference or Workshop Item
type: PeerReviewed
format: application/pdf
language: en
identifier: http://eprints.imtlucca.it/4007/1/07810277.pdf
identifier:   Verschueren, Robin and Zanon, Mario and Quirynen, Rien and Diehl, Moritz  Time-optimal race car driving using an online exact hessian based nonlinear MPC algorithm.  In: European Control Conference, June 29 - July 1, 2016, Aalborg, Denmark pp. 141-147.  ISBN 978-1-5090-2591-6.      (2016)  
relation: http://doi.org/10.1109/ECC.2016.7810277
relation: doi:10.1109/ECC.2016.7810277