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What is EV Path Tracking with Laguerre MPC about?

The document proposes an electrical vehicle path tracking controller based on model predictive control (MPC) with a Laguerre function and exponential weight (LEMPC) to address some limitations of traditional MPC controllers. Specifically: 1) A Laguerre function is used to fit the long sequence of future control inputs, reducing computational complexity without sacrificing accuracy. 2) An exponential weight is introduced to solve the mathematical problem of instability accumulation in MPC

Author

nhatvp

Language

EN