Linear time varying model based model predictive control for lateral path tracking
by Sara Mata; Asier Zubizarreta; Itziar Cabanes; Ione Nieva; Charles Pinto
International Journal of Vehicle Design (IJVD), Vol. 75, No. 1/2/3/4, 2017

Abstract: This paper presents a path following application for vehicles based on a model predictive control (MPC) approach with a linear time varying (LTV) model. The control system is designed to guarantee proper path tracking under certain comfort standards and for a wide range of velocities and traces. Therefore, not only lateral error is considered, but also orientation error to the target trajectory. Additionally, strict constraints are considered in the control signal, in its variation and in the lateral path following error. Stability of the proposed controller is guaranteed using terminal cost and constraint approaches.

Online publication date: Tue, 03-Apr-2018

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Vehicle Design (IJVD):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com