Path Following and Trajectory Tracking Model Predictive Control Using Artificial Variables for Constrained Vehicles
Workshop on Information Processing and Control(2019)
Abstract
In this article, the path following and trajectory tracking problems for constrained vehicles are tackled by means of a unified Model Predictive Control strategy. State and input constraints are taken into account, and additional artificial variables are included in the controller optimization problem to overcome several feasibility problems. To illustrate the performance of the approach we discuss the example of an autonomous vehicle subject to input constraints.
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Key words
nonlinear model predictive control,path following,trajectory tracking,artificial variables
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