Time Variant Predictive Control of Autonomous Vehicles

Authors

  • John Pumwa Department of Mechanical Engineering, Papua New Guinea University of Technology (UNITECH), Papua New Guinea

DOI:

https://doi.org/10.15157/IJITIS.2019.2.1.62-77

Keywords:

Linearized time variant, model predictive control, nonlinear ordinary differential equations, tracking trajectory, trajectory generation

Abstract

This paper develops a linearized time variant model predictive control (MPC) approach for controlling autonomous vehicle tracking on feasible trajectories generated from the vehicle nonlinear ordinary differential equations (ODEs). The paper is an application of the results from computational schemes for nonlinear model predictive control published in (International Journal of Control, Automation and Systems 2011 9(5), 958-965; Mechatronics 2013, Trajectory Generation for Autonomous Vehicles, 615-626, Springer). The vehicle nonlinear dynamic equations are derived and solved in MPC optimizer. Solution for the closed loop control is obtained by solving online the vehicle dynamic ODEs. Simulations for the new schemes are presented and analysed.

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Published

2019-01-02

How to Cite

Pumwa, J. (2019). Time Variant Predictive Control of Autonomous Vehicles. International Journal of Innovative Technology and Interdisciplinary Sciences, 2(1), 62–77. https://doi.org/10.15157/IJITIS.2019.2.1.62-77

Issue

Vol. 2 No. 1 (2019): International Journal of Innovative Technology and Interdisciplinary Sciences

Section

Articles

License

Creative Commons License

This work is licensed under a Creative Commons Attribution 4.0 International License.