Abstract
Nowadays it is almost universally accepted that predictive control and a hierarchical control architecture are at the basis of human driver modeling. The control structure is often subdivided in three levels: a strategic level for task planning; a tactical level for trajectory planning; an operational level for motion control. The two lower levels are based on principles of geometric nonlinear control of mechanical systems and in particular of non-holonomic vehicles. The paper illustrates some of these principles and shows a few application examples.
| Original language | English |
|---|---|
| Title of host publication | 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings, 20-24 July 2003 |
| Place of Publication | Piscataway |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 366-370 |
| Number of pages | 5 |
| Volume | 1 |
| ISBN (Print) | 0780377591 |
| DOIs | |
| Publication status | Published - 2003 |
| Externally published | Yes |
Keywords
- Control systems
- Humans
- Mechanical systems
- Motion control
- Nonlinear control systems
- Predictive control
- Predictive models
- Product development
- Strategic planning
- Trajectory