汽车跟踪控制的多步模型预测控制方法和灵敏度更新的数值试验
Numerical experiments with multistep model-predictive control approaches and sensitivity updates for the tracking control of cars
摘要：
本文讨论了多步非线性模型-预测控制（NMPC）方案的跟踪汽车模型沿给定的参考轨迹。特别是，我们将比较经典的单步NMPC，多步NMPC没有重新优化，多步NMPC重新优化，多步NMPC灵敏度更新，而不是一个完整的重新优化的数值性能和鲁棒性。
英文摘要：
The paper discusses multistep nonlinear model-predictive control (NMPC) schemes for the tracking of a car model along a given reference track. In particular we will compare the numerical performance and robustness of classic single step NMPC, multistep NMPC without re-optimization, multistep NMPC with re-optimization, and multistep NMPC with sensitivity updates instead of a full re-optimization.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
