ITU BAP Research Grant, 2019-2021, Project code:MYL-2019-42167
In the project, consensus (common task fulfillment) control problem in autonomous vehicles is considered. An MPC control structure is developed for the solution of the problem taking into account uncertainties and changes in vehicle parameters and communication speed. In this project, after linear MPC is mainly designed for consensus control, parameter estimation with the "Immersion Invariance" method is established in the discrete-time setting (to obtain vehicles with different and variable masses by placing different weights on the vehicles). Finally, MPC is combined with this constructed estimator and an adaptive MPC consensus is established.