Path Following and Trajectory Tracking Model Predictive Control using Artificial Variables for Constrained Vehicles

SÁNCHEZ, IGNACIO JULIÁN RODOLFO; D'JORGE AGUSTINA; FERRAMOSCA, ANTONIO; RAFFO, GUILHERME; GONZALEZ, ALEJANDRO

Bahia Blanca

Congreso; XVIII Workshop on Information Processing and Control (RPIC); 2019

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