Search results for " self-driving car"

showing 2 items of 2 documents

Towards the Design of Robotic Drivers for Full-Scale Self-Driving Racing Cars

2019

Autonomous vehicles are undergoing a rapid development thanks to advances in perception, planning and control methods and technologies achieved in the last two decades. Moreover, the lowering costs of sensors and computing platforms are attracting industrial entities, empowering the integration and development of innovative solutions for civilian use. Still, the development of autonomous racing cars has been confined mainly to laboratory studies and small to middle scale vehicles. This paper tackles the development of a planning and control framework for an electric full scale autonomous racing car, which is an absolute novelty in the literature, upon which we report our preliminary experim…

0209 industrial biotechnologyAutomotive self-driving car control roboticsbusiness.industryComputer scienceScale (chemistry)Control (management)Automotive industryRobotics02 engineering and technologyTrack (rail transport)Vehicle dynamicsModel predictive control020901 industrial engineering & automationSettore ING-INF/04 - Automatica020204 information systems0202 electrical engineering electronic engineering information engineeringSystems engineeringArtificial intelligencebusiness2019 International Conference on Robotics and Automation (ICRA)
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Robust Control of Nonlinear Systems: An Unknown Input Observer Based Approach

2023

Questa tesi propone un controllore robusto per sistemi non lineari tramite l'utilizzo di un osservatore ad ingressi sconosciuti. Attraverso un'opportuna riformulazione dinamica del modello, un generico sistema non lineare viene descritto come la somma di due funzioni, la prima lineare e nota e la seconda altamente non lineare e sconosciuta, derivante dalla conoscenza imperfetta del modello dinamico, dei parametri, o di eventuali disturbi esogeni agenti sul sistema etc., modellabili come perturbazioni (disturbi) della funzione lineare. Questa semplificazione consente una vantaggiosa descrizione dinamica del sistema in forma matriciale. Le informazioni necessarie sono stimate attraverso l'uti…

Robust Control Nonlinear Control State Observer Disturbance Observer Flexible Robotics Compliance and Impedance Control self-driving carSettore ING-INF/04 - Automatica
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