INTEC 05402
INSTITUTO DE DESARROLLO TECNOLOGICO PARA LA INDUSTRIA QUIMICA
Unidad Ejecutora - UE
congresos y reuniones científicas
Título:
Path Following and Trajectory Tracking Model Predictive Control using Artificial Variables for Constrained Vehicles
Autor/es:
FERRAMOSCA, ANTONIO; D'JORGE AGUSTINA; GONZALEZ, ALEJANDRO; SÁNCHEZ, IGNACIO JULIÁN RODOLFO; RAFFO, GUILHERME
Lugar:
Bahia Blanca
Reunión:
Congreso; XVIII Workshop on Information Processing and Control; 2019
Institución organizadora:
Universidad Nacional del Sur
Resumen:
In this article, the path following and trajectory tracking problems for constrained vehicles are tackled by meansof 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.
