A deep bilinear Koopman model with a cumulative error regulator improved trajectory-tracking accuracy in vehicle control, reducing tracking error by 33% to 68% versus baselines in hardware-in-the-loop tests.
An automatic tuning mpc with application to ecological cruise control,
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Deep Bilinear Koopman Model for Real-Time Vehicle Control in Frenet Frame
A deep bilinear Koopman model with a cumulative error regulator improved trajectory-tracking accuracy in vehicle control, reducing tracking error by 33% to 68% versus baselines in hardware-in-the-loop tests.