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

Authors: Sara Mata; Asier Zubizarreta; Itziar Cabanes; Ione Nieva; Charles Pinto

Addresses: Faculty of Engineering of Bilbao, Department of Automatics and System Engineering, University of the Basque Country (UPV/EHU), Plaza Ing. Torres Quevedo 48013, Bilbao, Spain ' Faculty of Engineering of Bilbao, Department of Automatics and System Engineering, University of the Basque Country (UPV/EHU), Plaza Ing. Torres Quevedo 48013, Bilbao, Spain ' Faculty of Engineering of Bilbao, Department of Automatics and System Engineering, University of the Basque Country (UPV/EHU), Plaza Ing. Torres Quevedo 48013, Bilbao, Spain ' Department of Mechanical Engineering, University of the Basque Country (UPV/EHU), Plaza Ing. Torres Quevedo 48013, Bilbao, Spain ' Department of Mechanical Engineering, University of the Basque Country (UPV/EHU), Plaza Ing. Torres Quevedo 48013, Bilbao, Spain

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.

Keywords: MPC; model predictive control; LTV model; linear time varying model; lateral dynamics; path following; active safety.

DOI: 10.1504/IJVD.2017.090900

International Journal of Vehicle Design, 2017 Vol.75 No.1/2/3/4, pp.1 - 22

Received: 02 Jul 2016
Accepted: 31 May 2017
Published online: 03 Apr 2018 *

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