Path following and trajectory tracking model predictive control using artificial variables for constrained vehicles

SANCHEZ, IGNACIO; D'JORGE, AGUSTINA; FERRAMOSCA, ANTONIO; RAFFO, GUILHERME; GONZLEZ, ALEJANDRO H.

2019 18th Workshop on Information Processing and Control, RPIC 2019

Institute of Electrical and Electronics Engineers Inc.

Año: 2019 p. 198 - 203

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.