K-SMPC: Koopman Operator-Based Stochastic Model Predictive Control for Enhanced Lateral Control of Autonomous Vehicles

K-SMPC: Koopman Operator-Based Stochastic Model Predictive Control for Enhanced Lateral Control of Autonomous Vehicles

This paper proposes Koopman operator-based Stochastic Model Predictive Control (K-SMPC) for enhanced lateral control of autonomous vehicles. The Koopman operator is a linear map representing the nonlinear dynamics in an infinite-dimensional space. Thus, we use the Koopman operator to represent the n...

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Bibliographic Details
Main Authors: Jin Sung Kim, Ying Shuai Quan, Chung Choo Chung, Woo Young Choi
Format: Article
Language:English
Published: IEEE 2025-01-01
Series:IEEE Access
Subjects:
Autonomous vehicles
data-driven control
Koopman operator
predictive control
stochastic model
Online Access:https://ieeexplore.ieee.org/document/10844279/
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https://ieeexplore.ieee.org/document/10844279/

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