info:eu-repo/semantics/publishedVersion
Model Predictive Path Following and Trajectory Tracking Control using Artificial Variables for Constrained Vehicles
Fecha
2019Registro en:
Model Predictive Path Following and Trajectory Tracking Control using Artificial Variables for Constrained Vehicles; XVIII Reunión de trabajo en Procesamiento de la Información y Control; Argentina; 2019; 1-6
CONICET Digital
CONICET
Autor
Sanchez, Ignacio
DJorge, Agustina
Ferramosca, Antonio
Raffo, Guilherme
González, Alejandro Hernán
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.