Model Predictive Path Following and Trajectory Tracking Control using Artificial Variables for Constrained Vehicles

Abstract

In this article, the path following and trajectorytracking problems for constrained vehicles are tackled by meansof a unified Model Predictive Control strategy. State and inputconstrains are taken into account, and additional artificial variablesare included in the controller optimization problem to overcomeseveral feasibility problems. To illustrate the performanceof the approach we discuss the example of an autonomous vehiclesubject to input constraints.