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

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dc.creatorIgnacio Sanchez
dc.creatorAgustina D'Jorge
dc.creatorAntonio Ferramosca
dc.creatorGuilherme Vianna Raffo
dc.creatorAlejandro H. Gonzalez
dc.date.accessioned2025-05-13T15:47:54Z
dc.date.accessioned2025-09-08T23:07:41Z
dc.date.available2025-05-13T15:47:54Z
dc.date.issued2019
dc.identifier.doi10.1109/RPIC.2019.8882189
dc.identifier.urihttps://hdl.handle.net/1843/82244
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofXVIII Workshop on Information Processing and Control (RPIC)
dc.rightsAcesso Restrito
dc.subjectTeoria do controle
dc.subjectSistemas não lineares
dc.subject.otherTrajectory tracking , Trajectory , Optimal control , Predictive control , Numerical models , Predictive models , Conferences
dc.subject.othernonlinear model predictive control , path following , trajectory tracking , artificial variables
dc.subject.otherModel Predictive Control , Artificial Variables , Optimization Problem , Autonomous Vehicles , Optimal Control Problem , Input Constraints , Trajectory Tracking Problem , Discretion , Nonlinear Model , Cost Function , Optimal Control , Control Input , Control Problem , Angular Velocity , Kind Of Problem , Coordinate Frame , Reference Trajectory , Skew-symmetric , Reference Input , Inertial Frame , Output Trajectory , Trajectory Path , Reference Output , Identically Zero , Input Trajectory , Constrained System , Sharp Turn , Spatial Path
dc.titlePath following and trajectory tracking model predictive control using artificial variables for constrained vehicles
dc.typeArtigo de evento
local.citation.epage203
local.citation.spage198
local.description.resumoIn 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.
local.publisher.countryArgentina
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/8882189

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