Iterative learning control designs for autonomous driving applications
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Iterative learning control designs for autonomous driving applications
Jkvan Arnhem en NijmegenHogeschoolIterative Learning Control Designs For Autonomous Driving ApplicationsSubmitted by:Nguyen Van LanhMaster ThesisMaste Iterative learning control designs for autonomous driving applications er of Control System EngineeringHAN University of Applied Science, the NetherlandsAcademic supervisor:Richarch KaandorpCompany supervisor:Dr. Son TongSiemens Industry Software, BelgiumSiements Industry Software NVCONFIDENTIAL8th April 2018AcknowledgementIwould like to thank my dear teacher and acade Iterative learning control designs for autonomous driving applications mic supervisor. Richarch Kaan-dorp, who gave inc a professional supervision with invaluable lessons. Richard is a warm-hearted person and he is alwaysIterative learning control designs for autonomous driving applications
willing to answer my questions and discuss with me in his classes. In order to finish my thesis, ho gave mo useful and insightful comments helping meJkvan Arnhem en NijmegenHogeschoolIterative Learning Control Designs For Autonomous Driving ApplicationsSubmitted by:Nguyen Van LanhMaster ThesisMaste Iterative learning control designs for autonomous driving applications lve confusions and led me to obtaining the final results of the thesis. Besides, Son is an open-minded person who has been good to me. Wit hout his encouragement, 1 could not finish t his final work in my master study.Furthermore, 1 am grateful to Thai Nguyen University of Technology (I NI T) in Vie Iterative learning control designs for autonomous driving applications tnam, where 1 studied and have been working for. Additionally, I would like to acknowledge Prof. Cuong Buy Nguyen at TN L T in Vietnam. He always suppIterative learning control designs for autonomous driving applications
orts and motivates me in my academic research. I also would like to thank Vietnamese Government for sponsoring my Master study ar HAN University of ApJkvan Arnhem en NijmegenHogeschoolIterative Learning Control Designs For Autonomous Driving ApplicationsSubmitted by:Nguyen Van LanhMaster ThesisMaste Iterative learning control designs for autonomous driving applications rther.Thank you!Leuven. March 2018Lanh Nguyen1AbstractIll this master thesis, iterative learning control (ILC) is introduced to deal with rhe problem of designing the most optimal control signal in autonomous driving applications that require tracking a fixed reference trajectory. By exploiting data Iterative learning control designs for autonomous driving applications /information from the previous iterations, the learning control algorithm can obtain belter tracking control performance for the next iteration, and hIterative learning control designs for autonomous driving applications
ence outperforms conventional control approaches such as feedback control. In addition, the control design is based on optimization, where kinematic aJkvan Arnhem en NijmegenHogeschoolIterative Learning Control Designs For Autonomous Driving ApplicationsSubmitted by:Nguyen Van LanhMaster ThesisMaste Iterative learning control designs for autonomous driving applications ion with other traditional control techniques, for example, the conventional feedback control is designed in the first iteration, then learning control is applied to improve performance in the subsequent iterations. In this thesis, we use RoFaLT, a nonlinear optimization-based learning control tool, Iterative learning control designs for autonomous driving applications to implement the 1LC controllers. Finally, the learning control designs are simulated in a co-simulation fashion of L.MS Amcsim ami Prescan softwareIterative learning control designs for autonomous driving applications
in two different scenarios: autonomous valet piirking and racing car. The results show the advantages of ILC controllers in improving tracking performJkvan Arnhem en NijmegenHogeschoolIterative Learning Control Designs For Autonomous Driving ApplicationsSubmitted by:Nguyen Van LanhMaster ThesisMaste Iterative learning control designs for autonomous driving applications tentsNomenclatureIVList of FiguresVIIList of TablesVIII1Introduction1Jkvan Arnhem en NijmegenHogeschoolIterative Learning Control Designs For Autonomous Driving ApplicationsSubmitted by:Nguyen Van LanhMaster ThesisMasteGọi ngay
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