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… (More)
DOI: 10.1109/CDC.2015.7402789

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