Linear time varying model based model predictive control for lateral path tracking

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.