INTEC 05402
INSTITUTO DE DESARROLLO TECNOLOGICO PARA LA INDUSTRIA QUIMICA
Unidad Ejecutora - UE
congresos y reuniones científicas
Título:
Model Predictive Path Following and Trajectory Tracking Control using Artificial Variables for Constrained Vehicles
Autor/es:
SANCHEZ, IGNACIO; RAFFO, GUILHERME; FERRAMOSCA, ANTONIO; DJORGE, AGUSTINA; GONZÁLEZ, ALEJANDRO HERNÁN
Reunión:
Congreso; XVIII Reunión de trabajo en Procesamiento de la Información y Control, RPIC, 2019.; 2019
Resumen:
In this article, the path following and trajectorytracking problems for constrained vehicles are tackled by meansof a unified Model Predictive Control strategy. State and inputconstrains are taken into account, and additional artificial variablesare included in the controller optimization problem to overcomeseveral feasibility problems. To illustrate the performanceof the approach we discuss the example of an autonomous vehiclesubject to input constraints.
