An energy efficient trajectory tracking controller for car-like vehicles using Model Predictive Control

Abstract

A Model Predictive Control (MPC) strategy for energy efficient motion control of car-like vehicles is presented. First, a nonlinear control law for trajectory tracking is derived and used to design a trajectory tracking MPC controller with convergence guarantees to a desired position trajectory. Then, assuming electric propulsion, a performance index reflecting the energy consumption of the vehicle is derived and combined with the stabilizing stage cost of the MPC controller. The resulting strategy drives the vehicle through energy efficient trajectories around the desired one. The distance between the closed-loop trajectories and the desired one provided by the user is guaranteed to be ultimately bounded. Numerical results show the effectiveness of the proposed control strategy for the case of a car driven through flat land or mountainous territory.