Bifurcation problems in nonlinear parametric programming

A. B. Poore; C. A. Tiahrt

doi:10.1007/bf02592952

Bifurcation problems in nonlinear parametric programming

Mathematical Programming ◽

10.1007/bf02592952 ◽

1987 ◽

Vol 39 (2) ◽

pp. 189-205 ◽

Cited By ~ 40

Author(s):

A. B. Poore ◽

C. A. Tiahrt

Keyword(s):

Parametric Programming ◽

Bifurcation Problems

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Advances in Sensitivity Analysis and Parametric Programming

Journal of the Operational Research Society ◽

10.1038/sj.jors.2600023 ◽

1998 ◽

Vol 49 (7) ◽

pp. 770-770

Author(s):

J M Wilson

Keyword(s):

Sensitivity Analysis ◽

Parametric Programming

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GENERALIZED WAVEGUIDE BIFURCATION PROBLEMS

The Quarterly Journal of Mechanics and Applied Mathematics ◽

10.1093/qjmam/41.1.127 ◽

1988 ◽

Vol 41 (1) ◽

pp. 127-139 ◽

Cited By ~ 2

Author(s):

R. A. HURD ◽

E. MEISTER

Keyword(s):

Bifurcation Problems

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A Computationally Efficient Predictive Controller for Lane Keeping of Semi-Autonomous Vehicles

Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems ◽

10.1115/dscc2014-6098 ◽

2014 ◽

Cited By ~ 3

Author(s):

Changchun Liu ◽

Chankyu Lee ◽

Andreas Hansen ◽

J. Karl Hedrick ◽

Jieyun Ding

Keyword(s):

Autonomous Vehicles ◽

Piecewise Linear ◽

Computational Cost ◽

Parametric Programming ◽

Linear Feedback ◽

Loop Model ◽

Computationally Efficient ◽

Feedback Function ◽

Predictive Controller ◽

Lane Keeping

Model predictive control (MPC) is a popular technique for the development of active safety systems. However, its high computational cost prevents it from being implemented on lower-cost hardware. This paper presents a computationally efficient predictive controller for lane keeping assistance systems. The controller shares control with the driver, and applies a correction steering when there is a potential lane departure. Using the explicit feedback MPC, a multi-parametric nonlinear programming problem with a human-in-the-loop model and safety constraints is formulated. The cost function is chosen as the difference between the linear state feedback function to be determined and the resultant optimal control sequence of the MPC problem solved off-line given the current state. The piecewise linear feedback function is obtained by solving the parametric programming with an approximation approach. The effectiveness of the controller is evaluated through numerical simulations.

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